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发表刊物：RIBIO 2023 国际会议

关键字：Force perception，active breath-following control，puncture ablation surgery robot，end effector

摘要：We have designed a robot end-effector active respiration tracking method based on a robotic arm's fuzzy variable admittance control and sliding window half-wave analysis anti-jitter algorithm. This method not only enables smooth zero-force tracking but also monitors real-time end-effector motion information to adjust the admittance parameters, thus avoiding the occurrence of potential oscillations. Finally, we conducted experiments by applying a random step-like oscillation to simulate spasms and twitching phenomena. The robot not only achieved zero-force tracking with forces less than 1.5N but also demonstrated excellent resistance to oscillations, showcasing remarkable flexibility and stability.

论文类型：应用研究

一级学科：机械工程

文献类型：会议录

是否译文：否

发表时间：2023-11-01

收录刊物：EI