ICRA 2011 Paper Abstract


Paper ThP113.4

Marx, Anja (GE Healthcare), Vitrani, Marie-Aude (Univ. Pierre et Marie Curie - Paris6), Herman, Benoît (Université catholique de Louvain), Iordache, Razvan (GE Healthcare), Muller, Serge (GE Healthcare), Morel, Guillaume (Univ. Pierre et Marie Curie - Paris 6)

Synergic Comanipulation Despite Underactuated Robot

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems VII" (ThP113), Thursday, May 12, 2011, 14:25−14:40, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Human Performance Augmentation, Medical Robots and Systems, Control Architectures and Programming


The possibility to provide an adequate task assistance using underactuated robots for human-robot tool comanipulation is investigated. This novel approach does not take into account any a priori knowledge about user depending parameters however optimizes the robot-user synergy, for instance during US breast examinations. Results show that the examination time can be reduced and a tendency for increasing scanning accuracy using underactuated robots.



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