An Integrated Position-velocity-force Method for Safety-enhanced Shared Control in Robot-assisted Surgical Cutting
Xilin Xiao,Xiaojian Li,Yudong Shi,Jin Fang,Lin Li,Pengfei He,Hangjie Mo,Xilin Xiao,Xiaojian Li,Yudong Shi,Jin Fang,Lin Li,Pengfei He,Hangjie Mo
Numerous studies have emphasized the application of autonomous intelligence in human-robot shared control to enhance surgical convenience and efficiency. However, the neglect of human dominance may reduce surgical safety. This paper developed a safety-enhanced human-robot shared control method by intelligently allocating control authority, with the surgeon remaining the leader during the surgical ...
