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RISA Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The implementation of the high-precision tracking control and external force-sensing ability of a manipulator is important for achieving refined surgical robot operation. In this paper, a hybrid method based on data-driven ...