A New Power Law Linking the Speed to the Geometry of Tool-Tip Orientation in Teleoperation of a Robot-Assisted Surgical System - Zruya, Or; Sharon, Yarden; Kossowsky, Hanna; Forni, Fulvio; Geftler, Alex; Nisky, Ilana (IEEE robotics and automation letters, 2022)
Keywords: Angular speed; Control systems; Geometry; Human motion; human-centered robotics; Invariants; Orientation; physical human-robot interaction; Power law; Quaternions; Robot control; Robotic surgery; Robotics; Robots; Robustness; Surgeons; Surgery; Surgical robotics: Laparoscopy; Task analysis; Training; Trajectory