Abstract
The Surgicobot is a cobot arm designed to generate high and low mechanical impedance though force feedback. We propose to use the impedance amplitude range in frequency domain as a comparision criterion to choose the best solution for the surgicobot actuation. We study different actuators to find the ones with best transparency and impedance capacity: low power electric motor combined with reconfigurable mechanical stops.
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Van Rhijn, J., Riwan, A., Jabbour, Z., Arakelyan, V. (2010). Mechanical Impedance: A Cobotic and Haptic Actuators Performance Criterion. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6191. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14064-8_33
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DOI: https://doi.org/10.1007/978-3-642-14064-8_33
Publisher Name: Springer, Berlin, Heidelberg
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