Control methods for guidance virtual fixtures in compliant human-machine interfaces

@article{Marayong2008ControlMF,
  title={Control methods for guidance virtual fixtures in compliant human-machine interfaces},
  author={Panadda Marayong and Gregory Hager and Allison M. Okamura},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={1166-1172}
}
This work focuses on the implementation of a vision-based motion guidance method, called virtual fixtures, on admittance-controlled human-machine cooperative robots with compliance. The robot compliance here refers to the structural elastic deformation of the device. The high mechanical stiffness and non-backdrivability of a typical admittance-controlled robot allow for slow and precise motions, making it highly suitable for tasks that require accuracy near human physical limits, such as… 

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