A Miniature Instrument Tip Force Sensor for Robot/Human Cooperative Microsurgical Manipulation with Enhanced Force Feedback.
Peter J. BerkelmanLouis L. WhitcombRussell H. TaylorPatrick S. JensenPublished in: MICCAI (2000)
Keyphrases
- force feedback
- contact force
- human operators
- human machine
- haptic feedback
- robot assisted
- virtual reality
- force sensing
- end effector
- haptic device
- robotic arm
- visual feedback
- robot arm
- laparoscopic surgery
- robot manipulators
- virtual space
- human interaction
- real time
- finite element analysis
- master slave
- virtual humans
- human users
- human subjects
- mobile robot
- inverse kinematics
- visual servoing
- degrees of freedom
- joint angles
- finite element model
- control scheme
- virtual environment
- decision makers