Closed Loop Control of an MR-Conditional Robot with Wireless Tracking Coil Feedback

@article{Chen2019ClosedLC,
  title={Closed Loop Control of an MR-Conditional Robot with Wireless Tracking Coil Feedback},
  author={Yue Chen and J. Howard and Isuru S. Godage and Saikat Sengupta},
  journal={Annals of Biomedical Engineering},
  year={2019},
  pages={1-12}
}
This paper presents a hardware and software system to implement the task space control of an MR-conditional robot by integrating inductively coupled wireless coil based tracking feedback into the control loop. The main motivation of this work is to increase the accuracy performance and address the system uncertainties in the practical scenarios. We present the MR-conditional robot hardware design, wireless tracking method, and custom-designed communication software for real-time tracking data… CONTINUE READING

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