AUTOMATIC SELECTION OF COLLABORATIVE ROBOT CONTROL PARAMETERS BASED ON TOOL AND USER INTERACTION FORCE

A system includes: a robotic arm which has an instrument interface; a force/torque sensor for sensing forces at the instrument interface; a robot controller for controlling the robotic arm and to control a robot control parameter; and a system controller. The system controller: receives temporal for...

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Bibliographische Detailangaben
1. Verfasser:	BALICKI, MARCIN ARKADIUSZ
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES DIAGNOSIS HAND TOOLS HUMAN NECESSITIES HYGIENE IDENTIFICATION MANIPULATORS MEDICAL OR VETERINARY SCIENCE PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS SURGERY TRANSPORTING
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Beschreibung
Zusammenfassung:	A system includes: a robotic arm which has an instrument interface; a force/torque sensor for sensing forces at the instrument interface; a robot controller for controlling the robotic arm and to control a robot control parameter; and a system controller. The system controller: receives temporal force/torque data, wherein the temporal force/torque data represents the forces at the instrument interface over time during a collaborative procedure with a user; analyzes the temporal force/torque data to determine a current intention of the user and/or a state of the collaborative procedure; and causes the robot controller to control the robotic arm in a control mode which is predefined for the determined current intention of the user or state of the collaborative procedure, wherein the control mode determines the robot control parameter.