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Jurado Realpe, Guillaume Aiche, Salih Abdelaziz, Philippe Poignet

Public reference bibliography and cataloged PDF materials authored or published by Jurado Realpe, Guillaume Aiche, Salih Abdelaziz, Philippe Poignet.

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Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation

Year: 2020 • Source: hal.science • Listed PDF

This paper introduces a 2-DOF spatial remote center of motion (RCM) tensegrity mechanism, based on a double parallelogram system, dedicated for percutaneous needle insertion. The originality of this mechanism is its abil...