2021
A Constant-Force End-Effector With Online Force Adjustment for Robotic Ultrasonography
RA-L 2021
In this letter, we propose a novel constant-force end-effector (CFEE) to address current limitations in robotic ultrasonography. The CFEE uses a parallel, motor-spring-based solution to precisely generate constant operating forces over a wide range and enable the ultrasound (US) probe to adapt to th