Control design and experiments for enhanced detection of stiffness variation in soft-tissue telemanipulation

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 1631-1636

  Malysz, Pawel ^a   Sirouspour, Shahin ^a  

^a MCMASTER UNIVERSITY   (Canada)

Author keywords

Circle criterion; Interval plant systems; Nonlinear mapping; Robotic surgery; Soft tissue manipulation; Stiffness discrimination; Teleoperation; Transparency

Indexed keywords

COMPUTER NETWORKS; CONFORMAL MAPPING; EXPERIMENTS; INTELLIGENT ROBOTS; MANIPULATORS; OPTICAL PROPERTIES; REMOTE CONTROL; ROBOTICS; ROBOTS; STIFFNESS; TRACKING (POSITION); TRANSPARENCY;

CIRCLE CRITERION; INTERVAL PLANT SYSTEMS; NONLINEAR MAPPING; ROBOTIC SURGERY; SOFT TISSUE MANIPULATION; STIFFNESS DISCRIMINATION; TELEOPERATION;

SYSTEM STABILITY;

EID: 51349145669     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4399198     Document Type: Conference Paper

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