Automatic Contact Force-regulated End-effector Using Pneumatic Actuator for Safe Robotic Ultrasound Imaging.
Wen-Yi KuoXihan MaDhirajsinh DeshmukhHaichong K. ZhangPublished in: ISMR (2023)
Keyphrases
- force control
- position control
- contact force
- end effector
- robot manipulators
- force feedback
- degrees of freedom
- robot arm
- ultrasound imaging
- control strategy
- robotic manipulator
- ultrasound images
- inverse kinematics
- closed loop
- robotic arm
- master slave
- control law
- finite element analysis
- control system
- control scheme
- finite element model
- object recognition
- control method
- dynamic model
- mathematical model
- vision system
- artificial neural networks