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