dc.contributor.authorAye, Yan Naing
dc.contributor.authorZhao, Su
dc.contributor.authorAng, Wei Tech
dc.identifier.citationAye, Y. N., Zhao, S., & Ang, W. T. (2013). An enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensation. International journal of advanced robotic systems, 10, 355-.en_US
dc.description.abstractThe intelligent handheld instrument, ITrem2, enhances manual positioning accuracy by cancelling erroneous hand movements and, at the same time, provides automatic micromanipulation functions. Visual data is acquired from a high speed monovision camera attached to the optical surgical microscope and acceleration measurements are acquired from the inertial measurement unit (IMU) on board ITrem2. Tremor estimation and canceling is implemented via Band-limited Multiple Fourier Linear Combiner (BMFLC) filter. The piezoelectric actuated micromanipulator in ITrem2 generates the 3D motion to compensate erroneous hand motion. Preliminary bench-top 2-DOF experiments have been conducted. The error motions simulated by a motion stage is reduced by 67% for multiple frequency oscillatory motions and 56.16% for pre-conditioned recorded physiological tremor.en_US
dc.description.sponsorshipASTAR (Agency for Sci., Tech. and Research, S’pore)
dc.relation.ispartofseriesInternational journal of advanced robotic systemsen_US
dc.rights© 2013 Aye et al.; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.en_US
dc.subjectDRNTU::Engineering::Mechanical engineering::Control engineering
dc.titleAn enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensationen_US
dc.typeJournal Article
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.description.versionPublished versionen_US

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