Abstract
The operation object of robot-assisted fracture reduction surgery is the musculoskeletal tissue with rigid-compliance coupling characteristics. It is necessary to improve the interactive compliance and safety between the reduction robot and the musculoskeletal tissue. An adaptive variable impedance position/force tracking control strategy based on friction compensation is proposed. The stiffness of the reduction robot can be adaptively adjusted according to the contact force between the end-effector and the environment. The Stribeck friction force model of the branch chain electric cylinder is derived to improve the motion control performance. The fracture reduction experiment is completed. The experimental results show that the adaptive variable impedance position/force control strategy can realize position and force tracking in fracture reduction. A safety control strategy is proposed and applied to robot-assisted fracture reduction surgery, which improves the coordination and compliance of the human-robot interaction between the reduction robot and the patient.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
