—This paper addresses the problem of achieving exact dynamic force control with manipulators possessing the low-level position and/or velocity controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive force control algorithm for velocity/position controlled robot arms in… (More)
OBJECTIVE Micropick fenestration of the stapes footplate, a difficult step in stapedotomy, was selected for trials evaluating the potential for robotic assistance (RA) to improve clinical measures of surgical performance. STUDY DESIGN In a surgical model of stapedotomy, we measured accuracy of fenestration to a desired point location and force applied to… (More)
This paper reports the development of a full-scale instru-mented model of the human ear that permits quantitative evaluation of the utility of a microsurgical assistant robot in the surgical procedure of stapedotomy.
—This paper reports the first direct structural comparison of a family of two-degrees-of-freedom semi-direct-drive linkages for robot arms. One novel and three previously reported linkage designs were optimized and compared using finite-element analysis. The results quantify structural properties of the four optimized designs under variations in joint… (More)
OBJECTIVES Two steps in stapedotomy are particularly challenging: (1) micropick fenestration of the stapes footplate (SF) and (2) crimping of the stapes prosthesis (SP) to the incus. We conducted trials to determine if experience correlates with differences in performance for these tasks. METHODS In a surgical model of stapedotomy, performance was… (More)
This paper reports the structural design of a new high-performance robot arm. Design objectives for the new arm include large (1-2 meter) workspace, low weight, 5 kg payload capacity, high stiiness, high structural vibration frequencies, precise joint-level torque control, a total of three degrees-of-freedom, and mechanical simplicity. A comparative… (More)
—This paper reports the mechanical design, structural analysis, and experimental verification of a new high-performance semi-direct drive robot arm. A design-optimization methodology employing finite element analysis (FEA) is reviewed, and a resulting arm design is reported. FEA simulations of the final design predict high structural vibration frequencies… (More)
Structured Abstract: Purpose: To develop a means for imaging cochlear anatomy using high-resolution ultrasound. Materials and Methods: The intra-cochlear anatomy of a prepared human temporal bone was imaged using an ultra high-frequency ultrasound transducer (70-MHz). The ultrasound transducer was mounted on a robotic arm for positioning. B-mode sector… (More)
This note reports an alternative proof for the exactly linearizing dynamic hybrid controller originally reported in 11.