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Title: A subject-specific four-degree-of-freedom foot interface to control a surgical robot
Authors: Huang, Yanpei
Burdet, Etienne
Cao, Lin
Phan, Phuoc Thien
Tiong, Anthony Meng Huat
Phee, Soo Jay
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2020
Source: Huang, 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.2020.2964295
Journal: IEEE/ASME Transactions on Mechatronics
Abstract: This 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.
ISSN: 1083-4435
DOI: 10.1109/TMECH.2020.2964295
Schools: School of Mechanical and Aerospace Engineering 
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:
Fulltext Permission: open
Fulltext Availability: With Fulltext
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