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Force feedback is assumed to enhance performance in robotic surgery and even render some tasks feasible but it is hard to control. Huge and unpredictable time delay over the Internet may induce close-loop control to be unstable. Safety undoubtedly is important in telesurgery systems. The use of QOS (Quality of Service) networks and protocols is proved to be an effective means in ensuring the safety...
In this paper, we present a MEMS assembly system under hybrid control of vision and force feedback. The construction of a micro-vision system is introduced in detail and a new micro-force sensor was developed. The strategies of integrating force and vision feedback have been investigated experimentally and impact experimental results are presented. A task of pin in hole of Phi 0.1mm was completed...
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