Technical Brief

Velocity-Limiting Control of an Active Handheld Micromanipulator1

[+] Author and Article Information
Shohin Mukherjee, Robert MacLachlan, Cameron Riviere

The Robotics Institute,
Carnegie Mellon University,
Pittsburgh, PA 15213

DOI: 10.1115/1.4033806Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030944 (Aug 01, 2016) (2 pages) Paper No: MED-16-1117; doi: 10.1115/1.4033806 History: Received March 01, 2016; Revised March 17, 2016

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Grahic Jump Location
Fig. 1

Exploded view of Micron

Grahic Jump Location
Fig. 2

Location (a) and structure (b) of the cancelation filter with velocity limiting included

Grahic Jump Location
Fig. 3

Micron during a peeling task

Grahic Jump Location
Fig. 4

Plot of tool tip velocity with time

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Fig. 5

Plot of tool tip x-coordinate with time

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Fig. 6

Plot of tool tip y-coordinate with time

Grahic Jump Location
Fig. 7

Plot of tool tip z-coordinate with time



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