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Updated: May 24, 2025

Force and Position Control in Humans - The Role of Augmented Feedback
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基于EMG的可变阻抗控制,用于实时材料识别中的增强触觉反.

Elisa Iovene, Riccardo Monaco, Junling Fu

    IEEE transactions on haptics
    |March 3, 2025
    PubMed
    概括

    这项研究引入了一种用于脊柱手术的新型机器人控制系统,增强了外科医生的触觉反. 自适应系统通过根据实时手术条件调整机器人的刚度来提高安全性和精度.

    科学领域:

    • 机器人技术 机器人技术 机器人技术
    • 手术技术 手术技术
    • 生物力学 生物力学

    背景情况:

    • 机器人系统为改善脊髓干预提供了潜力.
    • 目前在脊椎手术中机器人平台的整合是有限的.
    • 增强的触觉反对于安全和精确的外科操作至关重要.

    研究的目的:

    • 在共享控制框架中提出一个可变阻抗控制方案,用于在脊柱手术中增强触觉反.
    • 为了使外科医生能够根据接触力和人类的意图 (通过电肌图信号) 动态调整硬度来引导机器人.
    • 为了提高安全性,并尽量减少手术相互作用期间微妙的解剖结构的风险.

    主要方法:

    • 实现了7-DoF机器人操纵器,集成了6轴力/扭矩传感器和8通道EMG传感器.
    • 在共享控制框架内开发可变阻抗控制方案.
    • 技术验证和用户研究,将拟议系统与恒阻控制 (CIC) 和线性变阻控制 (LVIC) 进行比较.

    主要成果:

    • 与CIC和LVIC相比,拟议的系统在与微妙材料相互作用时显著减少了接触力和接触时的位移.
    • 由于力量和位移的减少,对关键解剖结构的风险降至最低.
    • 用户研究证实了改善的触觉感知和控制,防止不必要的运动.

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    Last Updated: May 24, 2025

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    结论:

    • 可变阻抗控制方案增强了机器人辅助脊柱手术中的触觉反和安全性.
    • 该系统的自适应性刚度调整有效地保护微妙的组织.
    • 拟议的方法表明,在复杂的脊柱手术中,机器人平台的更广泛采用是有希望的.