Cartesian and joint space teleoperation for nonholonomic steerable needles

Robotically steered needles can improve clinical procedures by curving significantly within the body to attain targets and avoid obstacles. Needles that steer by tip asymmetry are nonholonomic systems, which are difficult to control manually (i.e. in joint space) due to under-actuation and unintuiti...

Celý popis

Podrobná bibliografia

Vydané v:	2013 World Haptics Conference (WHC 2013 s. 395 - 400
Hlavní autori:	Majewicz, A., Okamura, A. M.
Médium:	Konferenčný príspevok..
Jazyk:	English
Vydavateľské údaje:	IEEE 01.04.2013
Predmet:	Aerospace electronics Force feedback H.5.2 [Information Interfaces and Presentation]: User Interfaces-Haptic I/O H.5.2 [Information Interfaces and Presentation]: User Interfaces-Input devices and strategies I.2.9 [Artificial Intelligence]: Robotics-Operator interfaces Joints Kinematics Needles Robots
ISBN:	1479900877, 9781479900879
On-line prístup:	Získať plný text
Tagy:	Pridať tag Žiadne tagy, Buďte prvý, kto otaguje tento záznam!