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dc.contributor.authorHuang, Yanpeien_US
dc.contributor.authorBurdet, Etienneen_US
dc.contributor.authorCao, Linen_US
dc.contributor.authorPhan, Phuoc Thienen_US
dc.contributor.authorTiong, Anthony Meng Huaten_US
dc.contributor.authorPhee, Soo Jayen_US
dc.identifier.citationHuang, Y., Burdet, E., Cao, L., Phan, P. T., Tiong, A. M. H., & Phee, S. J. (2020). A subject-specific four-degree-of-freedom foot interface to control a surgical robot. IEEE/ASME Transactions on Mechatronics, in press. doi:10.1109/tmech.2020.2964295en_US
dc.description.abstractThis paper introduces a passive four-degree-of-freedom foot interface to control a robotic surgical instrument. This interface is based on a parallel-serial hybrid mechanism with springs and force sensors. In contrast to existing switch-based interfaces that can command a slave robot arm at constant speeds in only discrete directions, the novel interface provides an operator with intuitive control in continuous directions and speeds with force and position feedback. The output command of the interface was initially derived based on the kinematics and statics of the interface. Since distinct movement patterns among different subjects were observed in a pilot test, a data-driven approach using Independent Component Analysis (ICA) was developed to convert the foot inputs to the control command of the user. The capability of this interface in controlling a robotic arm in multiple degrees of freedom was further verified with a teleoperation test.en_US
dc.description.sponsorshipNRF (Natl Research Foundation, S’pore)en_US
dc.relation.ispartofIEEE/ASME Transactions on Mechatronicsen_US
dc.rights© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
dc.subjectEngineering::Mechanical engineering::Robotsen_US
dc.titleA subject-specific four-degree-of-freedom foot interface to control a surgical roboten_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.description.versionAccepted versionen_US
dc.subject.keywordsHuman-machine Interactionen_US
dc.subject.keywordsFoot Interfaceen_US
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