Adaptive variable impedance position/force tracking control of fracture reduction robot.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
PMID: 36302164

Abstract

BACKGROUND: The operation object of robot-assisted fracture reduction surgery is the musculoskeletal tissue with rigid-compliance coupling characteristics. It is necessary to improve the interactive compliance and safety between the reduction robot and the musculoskeletal tissue.

Authors

  • Gongliang Zheng
    School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.
  • Jingtao Lei
    School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.
  • Lei Hu
    a School of Mechanical Engineering and Automation , Beihang University , Beijing , China.
  • Lihai Zhang
    Department of Infrastructure Engineering, The University of Melbourne, Melbourne, Australia.

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