Motion Control and External Force Estimation of a Pneumatically Driven Multi-DOF Robotic Forceps
Robotic forceps with a rigid-link joint mechanism is orthodox for current robotic-assisted surgery systems. However, external force estimation without force sensors during operations is difficult for such electrically driven forceps. This work introduces a pneumatically driven multi-DOF (DOF: degree...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-05-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/10/11/3679 |