Towards teleoperated needle insertion with haptic feedback controller.
Walid ZarradPhilippe PoignetRui Pedro Duarte CortesãoOlivier CompanyPublished in: IROS (2007)
Keyphrases
- needle insertion
- feedback controller
- force feedback
- closed loop
- control law
- control scheme
- feedback control
- haptic device
- end effector
- haptic feedback
- visual feedback
- ultrasound guided
- controller design
- visual servoing
- virtual reality
- robot arm
- control system
- nonlinear systems
- robotic arm
- fuzzy systems
- optimal control
- robot manipulators
- control strategy
- adaptive control
- control algorithm
- motion planning
- human operators
- dynamic model
- fuzzy controller
- virtual space
- degrees of freedom
- real time
- inverse kinematics
- control strategies