Synergic Comanipulation Despite Underactuated Robot

摘要：

The possibility to provide an adequate task assistance using underactuated robots for human-robot tool comanipulation is investigated. This novel approach does not take into account any a priori knowledge about user depending parameters however optimizes the robot-user synergy, for instance during US breast examinations. Results show that the examination time can be reduced and a tendency for increasing scanning accuracy using underactuated robots.

作者: Anja Marx Marie-Aude Vitrani Beno(i)t Herman R(a)zvan Iordache Serge Muller Guillaume Morel

作者单位: UPMC Univ Paris 06,UMR 7222,ISIR,F-75005,Paris,France and CNRS,UMR 7222,ISIR,F-75005,Paris,France GE UPMC Univ Paris 06,UMR 7222,ISIR,F-75005,Paris,France and CNRS,UMR 7222,ISIR,F-75005,Paris,France Universit(e) catholique de Louvain,Center for Research in Mechatronics,B-1348 Louvain-la-Neuve,Belgi GE Healthcare,Buc,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5756-5761

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）