NDLI: Preliminary Evaluation of a Force-Sensing Human-Machine Interface for an Interactive Robotic System

Content Provider	IEEE Xplore Digital Library
Author	Hein, A. Lenze, C. Brell, M.
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Sci., Oldenburg Univ. (Hein, A.; Lenze, C.; Brell, M.)
Abstract	In this paper the concept and first implementation of a robotic system for assistance during the milling in middle ear surgery is presented. Novel aspects of this system are the new force sensing approach, a parallel kinematic structure and the modified zero-force control scheme. In contrary to other force sensors the proposed approach only requires the position data delivered by a 6 d.o.f. position/orientation measurement system and properties of elastic objects. Because 6 d.o.f. position/orientation measurement systems are standard equipment in computer-aided surgery there is no need for additional sensors. The paper concludes with the experimental evaluation of the force control scheme and an accuracy analysis for the assisted milling
Starting Page	983
Ending Page	988
File Size	7322964
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281779
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Man machine systems Human robot interaction Robot sensing systems Milling Surgery Force sensors Force control Position measurement Ear Kinematics Force Sensing/Control Assistance
Content Type	Text
Resource Type	Article

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