IEEE Engineering in Medicine and Biology Magazine · 1995 · 100 citations · 15 references
EngineeringOrthopaedic SurgerySurgeryMedical RoboticsRobot ControlRoboticsActuation SystemsForce ControlManipulator ControlMotion ControlRobot-assisted SurgerySurgical RoboticsConstraint-based Motion ControlForce Control In RoboticsKnee Joint MechanicsMotion Constraint AnalysisMotion Constraint HandlingPositionRobot Motion ControlSurgical Robot Dynamics
Discusses establishing a force control strategy incorporating active motion constraint. The following subjects are considered: problems with conventional surgery; robot assisted surgery; control strategy; representing the motion constraint; design of the desired position; force control strategy; implicit force control; modified damping control; experimental results.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
15
Impedance Control: An Approach to Manipulation
Neville Hogan · 1984 · 2.9K citations
Engineering, Mechanical Engineering, Robotics Engineering +16
Introduction to robotics: Mechanics and control
M.G. Rodd · Automatica · 1987 · 1.5K citations
Engineering, Mechanical Engineering, Robotics Engineering +10