Active Constraints/Virtual Fixtures: A Survey

@article{Bowyer2014ActiveCF,
  title={Active Constraints/Virtual Fixtures: A Survey},
  author={Stuart A. Bowyer and Brian L. Davies and Ferdinando Rodriguez y Baena},
  journal={IEEE Transactions on Robotics},
  year={2014},
  volume={30},
  pages={138-157}
}
Active constraints, also known as virtual fixtures, are high-level control algorithms which can be used to assist a human in man-machine collaborative manipulation tasks. The active constraint controller monitors the robotic manipulator with respect to the environment and task, and anisotropically regulates the motion to provide assistance. The type of assistance offered by active constraints can vary, but they are typically used to either guide the user along a task-specific pathway or limit… CONTINUE READING

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