Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation

Current teleoperated robotic systems for retinal surgery cannot effectively control subtle tool-to-tissue interaction forces. This limitation may lead to patient injury caused by the surgeon’s mistakes. To improve the safety of retinal surgery, this paper proposes a haptic shared control framework f...

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Veröffentlicht in:	Sensors (Basel, Switzerland) Switzerland), 2025-01, Vol.25 (2), p.405
Hauptverfasser:	Qin, Wenlei, Yi, Haoran, Fan, Zhibin, Zhao, Jie
Format:	Artikel
Sprache:	eng
Online-Zugang:	Volltext
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