Technical Brief

Effects of Grasp Frequency on the Dynamics of a Robotic Surgical Grasper1

[+] Author and Article Information
Mark J. Brown, Trevor K. Stephens, John J. O'Neill, Timothy M. Kowalewski

Department of Mechanical Engineering,
University of Minnesota,
Minneapolis, MN 55455

DOI: 10.1115/1.4033844Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030957 (Aug 01, 2016) (2 pages) Paper No: MED-16-1121; doi: 10.1115/1.4033844 History: Received March 01, 2016; Revised March 17, 2016

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Grahic Jump Location
Fig. 1

Calibration testbed

Grahic Jump Location
Fig. 2

The percent contribution to θee,fit

Grahic Jump Location
Fig. 3

Fit versus measured θee (top) and error (bottom)




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