Abstract
This paper deals with the dynamic identification of medical devices. The majority of medical devices are like serial robots. On robotic, the usual identification method is based on the Inverse Dynamic Identification Model and the Least Squares estimation (IDIM-LS method). This method was validated on industrial robots and several prototypes. However, the safety constraints applied on medical devices add some issues. Both typical examples are the use irreversible gearbox and the use of brakes during constant position level unlike conventional robot. This paper presents the theory of identification and how to apply it on medical devices. A simple example of modeling and experimental identification of medical device is presented.
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Jubien, A., Gautier, M. (2016). Modeling and Dynamic Identification of Medical Devices: Theory, Issues and Example. In: Wenger, P., Chevallereau, C., Pisla, D., Bleuler, H., Rodić, A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, Cham. https://doi.org/10.1007/978-3-319-30674-2_16
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DOI: https://doi.org/10.1007/978-3-319-30674-2_16
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