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Manipulator Development for Telediagnostics

Authors: Adam Kurnicki, Bartłomiej Stanczyk, Bartosz Kania


This paper presents development of the light-weight manipulator with series elastic actuation for medical telediagnostics (USG examination). General structure of realized impedance control algorithm was shown. It was described how to perform force measurements based mainly on elasticity of manipulator links.

Keywords: Impedance Control, telediagnostics, elastic manipulator, force measurement

Digital Object Identifier (DOI):

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