—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.
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 mechanical design, structural analysis, and experimental veriication of a new high performance semi-direct drive robot arm. A design optimization methodology employing nite element analysis FEA is reviewed, and a resulting arm design is reported. FEA simulations of the nal design predict high structural vibration frequencies… (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)