A parallel six-motor cable system can apply external forces with sub-newton mean error to a RAVEN II surgical robot, enabling collection of force-labeled training trajectories.
2020 Fourth IEEE International Conference on Robotic Computing (IRC) , pages=
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A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units
A parallel six-motor cable system can apply external forces with sub-newton mean error to a RAVEN II surgical robot, enabling collection of force-labeled training trajectories.