Testing and modeling of the Minimally Invasive Manipulator

Performing complex surgical procedures laparoscopically is hampered by the loss of dexterity for the surgeon. The MIM has been developed to overcome those problems. This MIM was never tested. This report describes user tests performed with this MIM. Users applied lower forces to the test pads, but used more time and made more errors during...

Smart Motions: Reducing the effect of parameter uncertainties during feedforward control of a robotic manipulator

The performance of a feedforward controller depends on the accuracy of the internal model used for generating the control action. In this research we focus on the influence of parameter uncertainty on the performance of a feedforward controller. A simulation study is performed on a one and two D.O.F. planar robotic arm to improve the open-loop...