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Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation

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7 Author(s)
Kumar, Rajesh ; Dept. of Comput. Sci., Johns Hopkins Univ., MD, USA ; Berkelman, P. ; Gupta, P. ; Barnes, A.
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Reports preliminary experiments with a robot system designed to cooperatively extend a human's ability to perform fine manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. A completed steady-hand robot is reported. A stable force control law is reviewed. Preliminary experiments validate theoretical predictions of stable one-dimensional control of tool-tip forces in contact with both linearly and nonlinearly compliant objects. Preliminary feasibility experiments demonstrate stable one-dimensional robotic augmentation and “force scaling” of a human operator's tactile input

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:1 )

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