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Title: An enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensation
Authors: Zhao, Su
Aye, Yan Naing
Ang, Wei Tech
Keywords: DRNTU::Engineering::Mechanical engineering::Control engineering
Issue Date: 2013
Source: Aye, 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-.
Series/Report no.: International journal of advanced robotic systems
Abstract: The 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.
ISSN: 1729-8806
DOI: 10.5772/56571
Rights: © 2013 Aye et al.; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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