IEEE - Institute of Electrical and Electronics Engineers, Inc. - Compliant comanipulation control for medical robotics

2009 2nd Conference on Human System Interactions (HSI)

Author(s): Sousa, C. ; Cortesao, R. ; Queiros, P.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Catania, Italy, Italy
Conference Date: 21 May 2009
Page(s): 265 - 271
ISBN (CD): 978-1-4244-3960-7
ISBN (Paper): 978-1-4244-3959-1
DOI: 10.1109/HSI.2009.5090990
Regular:

This paper presents a compliant control architecture for comanipulation in the medical robotics field. The kinematics and dynamics models of robots are described and its linearization by non... View More

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