Roberto Sandoval

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This paper demonstrates tremor compensation for human subjects using an active handheld micromanipulator. This instrument uses optical and inertial sensing to detect its own motion, estimates tremor using linear filtering, and a flexure-based manipulator to actuate the tip. Compensation results while tracing a line with the tool are presented for both(More)
Accuracy in manual manipulation in a simulated craniotomy environment has been studied. Eighty-eight neurosurgeons with varying amounts of surgical experience were tested in two tasks: attempting to hold an instrument still, and trying to trace a line. Results for RMS and maximum linear and angular motion were measured in the static task. RMS and maximum(More)
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