Accuracy Improvement of Torque Estimation Between a Surgical Robot Instrument and Environment in Single-DOF Motion.
Suhwan ParkCheongjun KimDoo Yong LeePublished in: EuroHaptics (2) (2016)
Keyphrases
- end effector
- surgical robot
- degrees of freedom
- minimally invasive surgery
- robot assisted
- mobile robot
- real time
- vision system
- minimally invasive
- robot arm
- human motion
- motion planning
- image sequences
- inverse kinematics
- visual servoing
- motion capture
- control scheme
- path planning
- pose estimation
- video sequences
- control strategy
- virtual world
- motion estimation
- force feedback
- optical flow