Human-micromanipulator cooperation using a variable admittance controller

  • Hsieh-Yu LiEmail author
  • Theshani Nuradha
  • Sebaratnam Alex Xavier
  • U-Xuan Tan


  1. 1.
    Taylor R, Jensen P, Whitcomb L, et al. A steady-hand robotic system for microsurgical augmentation. Int J Robotics Res, 1999, 18: 1201–1210CrossRefGoogle Scholar
  2. 2.
    Cecil J, Kumar M B B R, Lu Y, et al. A review of micro-devices assembly techniques and technology. Int J Adv Manuf Technol, 2016, 83: 1569–1581CrossRefGoogle Scholar
  3. 3.
    Mitchell B, Koo J, Iordachita I, et al. Development and application of a new steady-hand manipulator for retinal surgery. In: Proceedings of IEEE International Conference on Robotics and Automation, 2007. 623–629CrossRefGoogle Scholar
  4. 4.
    Lecours A, Mayer-St-Onge B, Gosselin C. Variable admittance control of a four-degree-of-freedom intelligent assist device. In: Proceedings of International Conference on Robotics and Automation, 2012. 3903–3908Google Scholar
  5. 5.
    Ficuciello F, Villani L, Siciliano B. Variable impedance control of redundant manipulators for intuitive human-robot physical interaction. IEEE Trans Robot, 2015, 31: 850–863CrossRefGoogle Scholar
  6. 6.
    Li H Y, Paranawithana I, Yang L, et al. Stable and compliant motion of physical human-robot interaction coupled with a moving environment using variable admittance and adaptive control. IEEE Robot Autom Lett, 2018, 3: 2493–2500CrossRefGoogle Scholar
  7. 7.
    Degirmenci A, Hammond F L, Gafford J B, et al. Design and control of a parallel linkage wrist for robotic microsurgery. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. 222–228Google Scholar
  8. 8.
    Li H Y, Nuradha T, Xavier A, et al. Towards a compliant and accurate cooperative micromanipulator using variable admittance control. In: Proceedings of IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2018Google Scholar
  9. 9.
    Landi C T, Ferraguti F, Sabattini L, et al. Admittance control parameter adaptation for physical human-robot interaction. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2017. 2911–2916Google Scholar

Copyright information

© Science China Press and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Hsieh-Yu Li
    • 1
    Email author
  • Theshani Nuradha
    • 2
  • Sebaratnam Alex Xavier
    • 2
  • U-Xuan Tan
    • 1
  1. 1.Pillar of Engineering Product DevelopmentSingapore University of Technology and DesignSingaporeSingapore
  2. 2.Department of Electronic and Telecommunication, Faculty of EngineeringUniversity of MoratuwaMoratuwaSri Lanka

Personalised recommendations