Human-Robot Shared Control for Surgical Robot Based on Context-Aware Sim-to-Real Adaptation
Dandan Zhang,Zicong Wu,Junhong Chen,Ruiqi Zhu,Adnan Munawar,Bo Xiao,Yuan Guan,Hang Su,Wuzhou Hong,Yao Guo,Gregory S. Fischer,Benny Lo,Guang-Zhong Yang,Dandan Zhang,Zicong Wu,Junhong Chen,Ruiqi Zhu,Adnan Munawar,Bo Xiao,Yuan Guan,Hang Su,Wuzhou Hong,Yao Guo,Gregory S. Fischer,Benny Lo,Guang-Zhong Yang
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the surgical sub tasks for the construction of the shared control mechanism. However, a sufficient amount of data is required for the robot to learn the manoeuvres. Us...
