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Teleoperation systems have been extensively analyzed for transparency and stability previously. There has been, however, little focus on performance and stability constraints like the presence of sensor noise and its effect on the stability of the teleoperation system. The effect of sensor noise becomes all the more important in case of macro-micro world interactions and in applications like tele-haptic...
A new 6DOFs omnidirectional mobile robot with three leg-wheel hybrid structures is suggested to perform the human body gestures. The omnidirectional property of the human body is determined by investigating the motion capture data of the human body gestures. The offset between the steering and the wheel axis is inserted to remove the singularity of the leg-wheel hybrid structures and the spherical...
In recent years, several surgical or assistant robots have made a successful debut to surgical theatre. Due to their large size, and high price, there is a growing need for the miniaturization of these surgical robots. In this paper, a design methodology for a compact surgical robot is presented. Considering workspace and force requirements, a simulation and experiments are conducted to determine...
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