A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model

A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model

Physical human-robot interaction(pHRI) is the most popular way to ensure the safety in robot surgery. Current research of pHRI in operation room focuses on the inside of the surgical area, which adapts virtual fixtures method for ensuring the safety of drag. But the safety problems caused by human e...

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Bibliographic Details
Main Authors: Andi Lin, Yucun Tang, Minfeng Gan, Lixin Huang, Shaolong Kuang, Lining Sun
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Physical human-robot interaction
security control strategy
arm kinematics
virtual fixtures
surgical robot
Online Access:https://ieeexplore.ieee.org/document/8844680/

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