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- W4384697193 abstract "Due to the physiological shaking of the human hand during remote operation, there is a certain vibration phenomenon at the end of the robotic arm of the minimally invasive surgery robot, which affects the safety and stability of the surgery. A host-worker tremor suppression strategy based on Kalman filtering is proposed to realize the filtering of tremor signals by combining the conventional digital filtering algorithm and the Kalman filtering algorithm. Simulations and experiments were conducted for the tremor strategy. The results show that the physiological tremor signal is almost completely filtered, and the instability before tremor suppression is smoothly transitioned and corrected in the band after tremor suppression. The host-worker surgical robot's overall performance can be improved, the robotic arm operation can be more stable, and the tremor phenomenon at the robotic arm's end can be successfully suppressed." @default.
- W4384697193 created "2023-07-20" @default.
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- W4384697193 date "2023-07-18" @default.
- W4384697193 modified "2023-09-23" @default.
- W4384697193 title "Research on host-worker tremor suppression strategy based on the Kalman filter algorithm" @default.
- W4384697193 doi "https://doi.org/10.1117/12.2688856" @default.
- W4384697193 hasPublicationYear "2023" @default.
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