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An augmented steady hand system for ...

Kumar, Rajesh.

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An augmented steady hand system for precise micromanipulation.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	An augmented steady hand system for precise micromanipulation./
Author:	Kumar, Rajesh.
Description:	109 p.
Notes:	Adviser: Russell H. Taylor.
Contained By:	Dissertation Abstracts International62-02B.
Subject:	Computer Science. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3006288
ISBN:	9780493155838

An augmented steady hand system for precise micromanipulation.
Kumar, Rajesh.

An augmented steady hand system for precise micromanipulation. - 109 p.

Adviser: Russell H. Taylor.

Thesis (Ph.D.)--The Johns Hopkins University, 2001.

Steady Hand cooperative manipulation is a hands-on approach that integrates seamlessly in the surgical practice. In steady hand manipulation, the tool is held simultaneously by the user and the robot and the robot complies to forces applied by the user. Steady hand manipulation promises significant improvements in safety, accuracy over conventional practice at minimal cost and training to the user. It also offers a way around the difficult problem of encoding human intelligence, and preserves the benefits from experience and training.

ISBN: 9780493155838Subjects--Topical Terms:

626642
Computer Science.

An augmented steady hand system for precise micromanipulation.
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020 $a 9780493155838
035 $a (UMI)AAI3006288
035 $a AAI3006288
040 $a UMI $c UMI
100 1 $a Kumar, Rajesh. $3 1264204
245 1 3 $a An augmented steady hand system for precise micromanipulation.
300 $a 109 p.
500 $a Adviser: Russell H. Taylor.
500 $a Source: Dissertation Abstracts International, Volume: 62-02, Section: B, page: 0934.
502 $a Thesis (Ph.D.)--The Johns Hopkins University, 2001.
520 $a Steady Hand cooperative manipulation is a hands-on approach that integrates seamlessly in the surgical practice. In steady hand manipulation, the tool is held simultaneously by the user and the robot and the robot complies to forces applied by the user. Steady hand manipulation promises significant improvements in safety, accuracy over conventional practice at minimal cost and training to the user. It also offers a way around the difficult problem of encoding human intelligence, and preserves the benefits from experience and training.
520 $a We explore the possibility of encoding/utilizing task descriptions to improve transparency and performance of a steady hand manipulation task. This is done by constructing state space representations of the task. The user's interaction with the robot, tool-tissue interactions, and other sensory and planning inputs can be used to identify the task state and modify the behavior of the robot by using optimized task and control parameters. Validation experiments for several cooperative tasks with and without augmentation are presented.
590 $a School code: 0098.
650 4 $a Computer Science. $3 626642
650 4 $a Engineering, Biomedical. $3 1017684
650 4 $a Health Sciences, Medicine and Surgery. $3 1017756
690 $a 0541
690 $a 0564
690 $a 0984
710 2 $a The Johns Hopkins University. $3 1017431
773 0 $t Dissertation Abstracts International $g 62-02B.
790 $a 0098
790 1 0 $a Taylor, Russell H., $e advisor
791 $a Ph.D.
792 $a 2001
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3006288