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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...
Involuntary motions of the hand can have a significant deteriorating effect on the performance of microsurgical procedures such as vitreoretinal microsurgery. The most common source of the involuntary motions is physiological tremor. Real-time compensation of physiological tremor is therefore necessary to assist surgeons to accurately perform a microsurgery. A novel approach based on the use of Ionic...
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