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EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging
Download2022-11-03
Teng Li, Hongjun Xing, Hamid D. Taghirad, Mahdi Tavakoli
ABSTRACT: Ultrasound (US) imaging is a common but physically demanding task in the medical field, and sonographers may need to put in considerable physical effort for producing high-quality US images. During physical human-robot interaction on US imaging, robot compliance is a critical feature...
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Improving a User's Haptic Perceptual Sensitivity by Optimizing Effective Manipulability of a Redundant User Interface
Download2022-11-03
Teng Li, Ali Torabi, Hongjun Xing, Mahdi Tavakoli
ABSTRACT: Human perceptual sensitivity of various types of forces, e.g., stiffness and friction, is important for surgeons during robotic surgeries such as needle insertion and palpation. However, force feedback from robot end-effector is usually a combination of desired and undesired force...
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Integrating Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control in Elbow Arthroscopic Surgery
Download2022-11-03
Teng Li, Armin Badre, Hamid D. Taghirad, Mahdi Tavakoli
ABSTRACT: Robot-assisted arthroscopic surgery is transforming the tradition in orthopaedic surgery. Compliance and stability are essential features that a surgical robot must have for safe physical human-robot interaction (pHRI). Surgical tools attached at the robot end-effector and human-robot...