SCIENCE CHINA Information Sciences, Volume 62 , Issue 5 : 050204(2019) https://doi.org/10.1007/s11432-018-9663-1

Human-micromanipulator cooperation using a variable admittance controller

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  • ReceivedAug 16, 2018
  • AcceptedOct 7, 2018
  • PublishedMar 28, 2019


There is no abstract available for this article.


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  • Figure 1

    (Color online) (a) Overview of research objective; (b) the microsurgical robotics system; (c) the path of the needle from insertion (point 1) to extraction (point 2) under the microscope imaging; (d) first experiment result's path 1 to 3 (controller comparison); (e) second experiment result (with or without the robot comparison) – insertion only.