Haptic Navigation with an Upper Limb Exoskeleton for Robot-Assisted Surgery
M. Hessinger, R. Werthschützky, and P. Pott. 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, (August 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.
%0 Conference Paper
%1 hessinger2016haptic
%A Hessinger, Markus
%A Werthschützky, Roland
%A Pott, Peter P.
%B 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
%D 2016
%K imported imt-pott-alt myown
%T Haptic Navigation with an Upper Limb Exoskeleton for Robot-Assisted Surgery
%U http://tubiblio.ulb.tu-darmstadt.de/82899/
%X 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.
@inproceedings{hessinger2016haptic,
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.},
added-at = {2018-01-24T09:18:43.000+0100},
author = {Hessinger, Markus and Werthsch{\"u}tzky, Roland and Pott, Peter P.},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/2573d374de76ff54d34d279472046bd0d/peterpott},
booktitle = {38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society},
interhash = {cde0ca74cbaf6e9621221d9f53d3f638},
intrahash = {573d374de76ff54d34d279472046bd0d},
keywords = {imported imt-pott-alt myown},
month = {August},
timestamp = {2018-01-24T08:18:55.000+0100},
title = {Haptic Navigation with an Upper Limb Exoskeleton for Robot-Assisted Surgery},
url = {http://tubiblio.ulb.tu-darmstadt.de/82899/},
year = 2016
}
