Adaptive Motion Scaling for Robot-Assisted Microsurgery Based on Hybrid Offline Reinforcement Learning and Damping Control
Peiyang Jiang,Wei Li,Yifan Li,Dandan Zhang,Peiyang Jiang,Wei Li,Yifan Li,Dandan Zhang
Motion scaling is essential to empower users to conduct precise manipulation during teleoperation for robot-assisted microsurgery (RAMS). A constant, small motion scaling ratio can enhance the precision of teleoperation but hinder the operator from quickly reaching distant targets. The concept of self-adaptive motion scaling has been proposed in previous work. However, previous frameworks required...
