A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures
Theodora Kastritsi, Zoe Doulgeri
Topics & Concepts
Computer scienceAdmittanceTask (project management)SimulationController (irrigation)GRASPRobotMotion (physics)WorkspacePort (circuit theory)Human–computer interactionComputer visionArtificial intelligenceMechanical engineeringPhysicsBiologyElectrical impedanceEconomicsAgronomyProgramming languageManagementQuantum mechanicsEngineeringSoft Robotics and ApplicationsTeleoperation and Haptic SystemsRobot Manipulation and Learning