Application of shared control strategy in the design of a robotic device

摘要

A new paradigm in the design and control of assistive robotic devices is the notion of Shared Control. Shared control devices can be categorized as a class of robotics where both the human and mechanism are in direct cooperation in accomplishing a given task. The information and power are distributed and interconnected between the agents. This way one may be able to accomplish tasks which takes advantage of the information and power capabilities of both agents. This paper presents an application of the above concept in the design of a surgical tool which is used in the minimally-invasive surgery. The paper presents a summary of the design integration and performance analysis of such concept.