Hessinger, Markus ; Werthschützky, Roland ; Pott, Peter P. (2016)
Haptic Navigation with an Upper Limb Exoskeleton for Robot-Assisted Surgery.
38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Orlando, Florida, USA (16.08.2016-20.08.2016)
Conference or Workshop Item, Bibliographie
Abstract
This paper presents a surgical navigation system with an upper limb exoskeleton. The robotic system consists of a real-time tracking camera with optical markers and a 7-DOF serial manipulator for positioning a tool on a preplanned path. The detection of the user’s movement intention is enabled with integrated torque sensors and an inverse dynamic model of the kinematic chain. Therefore, the cooperative system combines the human ability to take decisions with the precision and fatigue resistance of a robot.
| Item Type: | Conference or Workshop Item |
|---|---|
| Erschienen: | 2016 |
| Creators: | Hessinger, Markus ; Werthschützky, Roland ; Pott, Peter P. |
| Type of entry: | Bibliographie |
| Title: | Haptic Navigation with an Upper Limb Exoskeleton for Robot-Assisted Surgery |
| Language: | English |
| Date: | 16 August 2016 |
| Event Title: | 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society |
| Event Location: | Orlando, Florida, USA |
| Event Dates: | 16.08.2016-20.08.2016 |
| Abstract: | This paper presents a surgical navigation system with an upper limb exoskeleton. The robotic system consists of a real-time tracking camera with optical markers and a 7-DOF serial manipulator for positioning a tool on a preplanned path. The detection of the user’s movement intention is enabled with integrated torque sensors and an inverse dynamic model of the kinematic chain. Therefore, the cooperative system combines the human ability to take decisions with the precision and fatigue resistance of a robot. |
| Divisions: | 18 Department of Electrical Engineering and Information Technology 18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design (dissolved 18.12.2018) 18 Department of Electrical Engineering and Information Technology > Measurement and Sensor Technology |
| Date Deposited: | 22 Sep 2016 11:00 |
| Last Modified: | 22 Sep 2016 11:00 |
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