Adam Kurnicki and Bartłomiej Stanczyk and Bartosz Kania
Manipulator Development for Telediagnostics
1423 - 1427
2014
8
9
International Journal of Mechanical and Mechatronics Engineering
https://publications.waset.org/pdf/9999274
https://publications.waset.org/vol/93
World Academy of Science, Engineering and Technology
This paper presents development of the lightweight 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.
Open Science Index 93, 2014