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This paper proposes a new adaptive method for two-channel bilateral teleoperation systems control; the control method consists of adaptive force feedback and motion command scaling factors that ensure stable teleoperation with maximum achievable transparency at every moment of operation. The method is based on the integration of the real time estimation of the robot's environment impedance with the...
This paper presents a path planning algorithm for robotic assisted stitching. The method uses a nonlinear model for curved needle — soft tissue interaction. The proposed method can be used for autonomous robotic suturing. The performance of the algorithm was assessed through simulations and experiments. The experimental results illustrate that the path planned curved needle insertions are fifty percent...
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