Jitter system and method to maintain grip force

The invention discloses a jittering system and method for maintaining grip force. The jittering system includes a computer-aided device. A computer-assisted device includes an instrument having a first jaw and a second jaw, the first jaw and the second jaw configured to grasp a material; one or more actuators configured to actuate the first jaw and the second jaw to apply a force to the gripped material; and a controller coupled to the one or more actuators. The controller is configured to determine that actuation of the one or more actuators should be dithered, and in response to the determination, dither the one or more control signals to the one or more actuators so as to cause a change in force or torque applied by the one or more actuators. In some embodiments, the one or more control signals correspond to a force setpoint, a torque setpoint, a current setpoint, or a position setpoint for one or more actuators. 本申请公开维持抓握力的抖动系统和方法，其包括计算机辅助设备。计算机辅助设备包括具有第一钳爪和第二钳爪的器械，第一钳爪和第二钳爪被配置为抓握材料；被配置为致动第一钳爪和第二钳爪以对被抓握材料