2022
Planning of Soft-Rigid Hybrid Arms in Contact With Compliant Environment: Application to the Transrectal Biopsy of the Prostate
RA-L 2022
In this study, a rigid robot is hybridized with a soft part to improve its properties of relative positioning and safe interaction. While the design of the device is quite simple, the kinematics, on the other hand, becomes complex. Pre-operative planning of such a robot is a challenge that is faced