Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation
J.R. Jurado Realpe,G. Aiche,S. Abdelaziz,P. Poignet,J.R. Jurado Realpe,G. Aiche,S. Abdelaziz,P. Poignet
This paper introduces a 2-DOF spatial remote center of motion (RCM) tensegrity mechanism, based on a double parallelogram system, dedicated for percutaneous needle insertion. The originality of this mechanism is its ability to be reconfigured and its capacity to perform a decoupled modulation of its stiffness in an asynchronous way. To do so, an analytical stiffness model of the robot is establish...
