2 papers
cs.RO2019
Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation
David V. Gealy, Stephen McKinley, Brent Yi +10
Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradi…
cs.RO2017
Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure
Daniel Seita, Sanjay Krishnan, Roy Fox +3
Automating precision subtasks such as debridement (removing dead or diseased tissue fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit (dVRK) is c…