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In this paper, a safety concern arising from pathological tremors in patients interacting with haptics-enabled rehabilitation robots is analyzed and the issue of tremor amplification for assistive/coordinative robotic rehabilitation is investigated. In order to deal with this issue, a control architecture is proposed to dissipate the extra energy of the system and guarantee its stability and safety...
Three-dimensional (3D) pose estimation of a rigid object by only one camera has a vital role in visual servoing systems, and extended Kalman filter (EKF) is vastly used for this task in an unstructured environment. In this study, the stability of the EKF-based 3D pose estimators is analysed in detail. The most challenging issue of the state-of-the-art EKF-based 3D pose estimators is the possibility...
Challenges created by non-minimum phase slave robots in time delayed telerobotics systems is the main focus of this paper. This new category of telerobotics systems has many practical applications such as minimally invasive time delayed tele-surgeries. The non-minimum phase (NMP) tele-manipulation creates many challenges especially in presence of communication time delay. In this article, a thorough...
In this paper, challenges caused by non-minimum phase slave robots in telerobotics systems in investigated for the first time. Non minimum phase (NMP)tele-manipulation creates many challenges which have not been investigated so far. Flexible-link slaves are common examples of NMP manipulators. In tele-surgical robotics, flexibility and non-minimum phase behaviors are caused by structural miniaturization...
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