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Friction compensation for an industrial hydraulic robot
A model based friction compensation scheme using a novel dynamical friction model was implemented on an industrial Schilling Titan II hydraulic robot. Off-line estimation of parameters was carriedExpand
Connecting a Human Limb to an Exoskeleton
A constructive method is derived that allows the determination of all the possible distributions of freed degrees of freedom across different fixation mechanisms and provides formal proofs of global isostaticity. Expand
Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery
Minimally invasive surgery (MIS) challenges the surgeon's skills due to his/her separation from the operation area, which can be reached with long instruments only. Therefore, the surgeon loosesExpand
Explicit Incorporation of 2D Constraints in Vision Based Control of Robot Manipulators
A new vision based controller is introduced that guarantees a convergence towards the final location while keeping the whole target in the camera’ field of view. Expand
Toward the Development of a Hand-Held Surgical Robot for Laparoscopy
Minimally invasive surgery (MIS), which typically involves endoscopic camera and laparoscopic instruments may seem to be the ideal surgical procedure for its apparent benefits. However, in comparisonExpand
The precise control of manipulators with high joint-friction using base force/torque sensing
A simple, practical, and effective method to compensate for joint friction, using a six-axis force/torque sensor mounted under the manipulator, which virtually eliminates friction and gravity effects and is used in a torque controller. Expand
Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing
A robotic vision system that automatically retrieves and positions surgical instruments during robotized laparoscopic surgical operations and can specify a desired relative position between the instrument and the pointed organ is presented. Expand
A base force/torque sensor approach to robot manipulator inertial parameter estimation
Experimental results presented show that an accurate estimation of inertia parameters is attainable and the estimation algorithm does not require difficult-to-measure acceleration measurements. Expand
A Methodology to Quantify Alterations in Human Upper Limb Movement During Co-Manipulation With an Exoskeleton
The aim of this paper is to propose a general methodology to evaluate, through a reduced set of simple indicators, the ability of an exoskeleton to interact finely and in a controlled way with a human. Expand
Building Large Mosaics of Confocal Edomicroscopic Images Using Visual Servoing
Experiments on different kinds of environments show that the quality of the visually servoed probe motion is sufficient to build mosaics with minimal distortion in spite of disturbances, and visual servoing from real-time endomicroscopic images is proposed in this paper. Expand