Development of Safe Mechanism for Surgical Robots Using Equilibrium Point Control Method

  • Shinsuk Park
  • Hokjin Lim
  • Byeong-sang Kim
  • Jae-bok Song
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4190)


This paper introduces a novel mechanism for surgical robotic systems to generate human arm-like compliant motion. The mechanism is based on the idea of the equilibrium point control hypothesis which claims that multi-joint limb movements are achieved by shifting the limbs’ equilibrium positions defined by neuromuscular activity. The equilibrium point control can be implemented on a robot manipulator by installing two actuators at each joint of the manipulator, one to control the joint position, and the other to control the joint stiffness. This double-actuator mechanism allows us to arbitrarily manipulate the stiffness (or impedance) of a robotic manipulator as well as its position. Also, the force at the end-effector can be estimated based on joint stiffness and joint angle changes without using force transducers. A two-link manipulator and a three-link manipulator with the double-actuator units have been developed, and experiments and simulation results show the potential of the proposed approach. By creating the human arm-like behavior, this mechanism can improve the performance of robot manipulators to execute stable and safe movement in surgical environments by using a simple control scheme.


Contact Force Minimally Invasive Surgery Robot Manipulator Joint Stiffness Surgical Robot 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Shinsuk Park
    • 1
  • Hokjin Lim
    • 1
  • Byeong-sang Kim
    • 1
  • Jae-bok Song
    • 1
  1. 1.Dept. of Mechanical EngineeringKorea UniversitySeoulKorea

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