Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator
Conference Paper, Proceedings of 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '05), pp. 5775 - 5777, September, 2005
Abstract
This paper presents the development of an inverse kinematic model for a flexure-based micromanipulator using a feedforward neural network. The manipulator is part of an active handheld instrument designed to cancel hand tremor during microsurgery. The manipulator is actuated using three piezoelectric stacks. Preliminary results yield a mean squared error of 5% of the total stack range of motion, and a maximum error of 14% of the total range of motion.
BibTeX
@conference{Avedillo-2005-9305,author = {J. G. Avedillo and David Choi and Cameron Riviere},
title = {Inverse Kinematic Model of Flexure-Based Microsurgical Manipulator},
booktitle = {Proceedings of 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '05)},
year = {2005},
month = {September},
pages = {5775 - 5777},
}
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