Abstract
This paper reports the development of a robotic system designed to extend a human’s ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. Our novel approach, which we call “steady hand” micromanipulation, is for tools to be held simultaneously both by the operator’s hand and a specially designed actively controlled robot arm. The robot’s controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of handheld tools for tasks characterized by compliant or semi-rigid contacts with the environment.
We gratefully acknowledge the support of the National Science Foundation under grant #IIS9801684, the Engineering Research Center grant #EEC9731478, and in cooperation with the Whitaker Foundation on grant #ST32HL07712. General lab infrastructure was partially supported by NSF equipment grants CDA-9529509 and EIA9703080 and by an equipment grant from Intel. This work was also funded in part by Johns Hopkins internal funds.
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Taylor, R. et al. (1999). A Steady-Hand Robotic System for Microsurgical Augmentation. In: Taylor, C., Colchester, A. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI’99. MICCAI 1999. Lecture Notes in Computer Science, vol 1679. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10704282_112
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DOI: https://doi.org/10.1007/10704282_112
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