Description

1.Background

• For finer cutting precision, it is necessary for the surgeon to directly guide the surgical robot’s position when resecting residual bone.
• In this scenario, a surgical robot with a high reduction‐ratio gearbox must be easily maneuverable by the surgeon with minimal force, and must generate strong opposing forces to prevent intrusion into prohibited regions.

2.Objective

• In this study, we aim to develop an admittance controller that improves the robot’s manipulability while guaranteeing operational safety.

  

3.Keywords

Admittance Controller / Surgical Robot / TDPA

Key Features

1.Bidirectional TDPA

2.With (Right) vs Without (Left) TDPA