MEYER, Kurt Christopher,CHUNG, Shu-Yun,HO, Mingyen
申请号：
AU2018347473
公开号：
AU2018347473A1
申请日:
2018.09.26
申请国别(地区):
AU
年份:
2020
代理人:
摘要：
Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.
