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A force-controllable macro-micro manipulator and its application to medical robotsThis paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.
Document ID
19940025936
Acquisition Source
Headquarters
Document Type
Conference Paper
Authors
Marzwell, Neville I. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Uecker, Darrin R. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Wang, Yulun (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
September 6, 2013
Publication Date
February 1, 1994
Publication Information
Publication: NASA, Washington, Technology 2003: The Fourth National Technology Transfer Conference and Exposition, Volume 1
Subject Category
Mechanical Engineering
Accession Number
94N30441
Funding Number(s)
CONTRACT_GRANT: NAS7-1149
Distribution Limits
Public
Copyright
Public Use Permitted.

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IDRelationTitle19940025124Collected WorksThe 27th Aerospace Mechanisms Symposium19940025935Collected WorksTechnology 2003: Conference Proceedings from the Fourth National Technology Transfer Conference and Exposition, Volume 1
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