2018
Safety-Enhanced Human-Robot Interaction Control of Redundant Robot for Teleoperated Minimally Invasive Surgery
ICRA 2018poster
In this paper, a teleoperation control of a 7-DoF robot manipulator for Minimally Invasive Surgery (MIS), which guarantees a safety-enhanced compliant behavior in the null space, is described. The redundancy of the manipulator is exploited to provide a flexible workspace for nurses or other staff (a…