AN AUGMENTED STEADY HAND SYSTEM FOR PRECISE MICROMANIPULATION - Tapa blanda

Kumar, Rajesh

 
9783639097566: AN AUGMENTED STEADY HAND SYSTEM FOR PRECISE MICROMANIPULATION
Tapa blanda
ISBN 10: 3639097564 ISBN 13: 9783639097566
Editorial: VDM Verlag Dr. Mueller e.K., 2008

Sinopsis

Steady Hand cooperative manipulation is a hands-on approach that integrates seamlessly in the surgical practice. In steady hand manipulation, the tool is held simultaneously by the user and the robot and the robot complies to forces applied by the user. Steady hand manipulation promises significant improvements in safety, accuracy over conventional practice at minimal cost and training to the user. It also offers a way around the difficult problem of encoding human intelligence, and preserves the benefits from experience and training. We explore the possibility of encoding/utilizing task descriptions to improve transparency and performance of a steady hand manipulation task. This is done by constructing higher level representations of the task. The user’s interaction with the robot, tool-tissue interactions, and other sensory and planning inputs can be used to identify the task state and modify the behavior of the robot by using using optimized task and control parameters. Validation experiments for several cooperative tasks with and without augmentation are presented.

"Sinopsis" puede pertenecer a otra edición de este libro.

Reseña del editor

Steady Hand cooperative manipulation is a hands-on approach that integrates seamlessly in the surgical practice. In steady hand manipulation, the tool is held simultaneously by the user and the robot and the robot complies to forces applied by the user. Steady hand manipulation promises significant improvements in safety, accuracy over conventional practice at minimal cost and training to the user. It also offers a way around the difficult problem of encoding human intelligence, and preserves the benefits from experience and training. We explore the possibility of encoding/utilizing task descriptions to improve transparency and performance of a steady hand manipulation task. This is done by constructing higher level representations of the task. The user's interaction with the robot, tool-tissue interactions, and other sensory and planning inputs can be used to identify the task state and modify the behavior of the robot by using using optimized task and control parameters. Validation experiments for several cooperative tasks with and without augmentation are presented.

"Sobre este título" puede pertenecer a otra edición de este libro.

Editorial
VDM Verlag Dr. Mueller e.K.
Año de publicación
2008
Idioma
Inglés
ISBN 10 
3639097564
ISBN 13 
9783639097566
Encuadernación
Tapa blanda
Número de páginas
116
Contacto del fabricante
no disponible
Persona responsable
no disponible