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An enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensation

หน่วยงาน Nanyang Technological University, Singapore

รายละเอียด

ชื่อเรื่อง : An enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensation
นักวิจัย : Aye, Yan Naing , Zhao, Su , Ang, Wei Tech
คำค้น : DRNTU::Engineering::Mechanical engineering::Control engineering
หน่วยงาน : Nanyang Technological University, Singapore
ผู้ร่วมงาน : -
ปีพิมพ์ : 2556
อ้างอิง : Aye, Y. N., Zhao, S., & Ang, W. T. (2013). An enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensation. International journal of advanced robotic systems, 10, 355-. , 1729-8806 , http://hdl.handle.net/10220/23930 , http://dx.doi.org/10.5772/56571
ที่มา : -
ความเชี่ยวชาญ : -
ความสัมพันธ์ : International journal of advanced robotic systems
ขอบเขตของเนื้อหา : -
บทคัดย่อ/คำอธิบาย :

The intelligent handheld instrument, ITrem2, enhances manual positioning accuracy by cancelling erroneous hand movements and, at the same time, provides automatic micromanipulation functions. Visual data is acquired from a high speed monovision camera attached to the optical surgical microscope and acceleration measurements are acquired from the inertial measurement unit (IMU) on board ITrem2. Tremor estimation and canceling is implemented via Band-limited Multiple Fourier Linear Combiner (BMFLC) filter. The piezoelectric actuated micromanipulator in ITrem2 generates the 3D motion to compensate erroneous hand motion. Preliminary bench-top 2-DOF experiments have been conducted. The error motions simulated by a motion stage is reduced by 67% for multiple frequency oscillatory motions and 56.16% for pre-conditioned recorded physiological tremor.

บรรณานุกรม :
Aye, Yan Naing , Zhao, Su , Ang, Wei Tech . (2556). An enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensation.
    กรุงเทพมหานคร : Nanyang Technological University, Singapore.
Aye, Yan Naing , Zhao, Su , Ang, Wei Tech . 2556. "An enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensation".
    กรุงเทพมหานคร : Nanyang Technological University, Singapore.
Aye, Yan Naing , Zhao, Su , Ang, Wei Tech . "An enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensation."
    กรุงเทพมหานคร : Nanyang Technological University, Singapore, 2556. Print.
Aye, Yan Naing , Zhao, Su , Ang, Wei Tech . An enhanced intelligent handheld instrument with visual servo control for 2-DOF hand motion error compensation. กรุงเทพมหานคร : Nanyang Technological University, Singapore; 2556.