Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism

This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching of end effectors. The bidirectional telescopic me...

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Detalles Bibliográficos
Autores principales: Zhang, Youqiang, Jeong, Cheol-Su, Kim, Minhyo, Jin, Sangrok
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Communication
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8156176/
https://www.ncbi.nlm.nih.gov/pubmed/34067868
http://dx.doi.org/10.3390/s21103498

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8156176/
https://www.ncbi.nlm.nih.gov/pubmed/34067868
http://dx.doi.org/10.3390/s21103498

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