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A Task Space Virtual Fixture Architecture for Teleoperated Surgical System With Slave Joint Limit Constraints

by Cai, Yuanpei, Choi, PangFai, Hui, Chiu-Wai Vincent, Taylor, Russell H., Au, Kwok Wai Samuel
Published in IEEE/ASME transactions on mechatronics (01.02.2022)

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A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces

by Lin, Hongbin, Vincent Hui, Chiu-Wai, Wang, Yan, Deguet, Anton, Kazanzides, Peter, Au, K. W. Samuel
Published in IEEE robotics and automation letters (01.10.2019)

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A Task Space Virtual Fixture Architecture for Teleoperated Surgical System With Slave Joint Limit Constraints

A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces

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