ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2011
State Estimation and Feedforward Tremor Suppression for a Handheld Micromanipulator with a Kalman Filter.
Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
3 citing papers in PubMed, 7 citations in OpenAlex.
- Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- Vision-Based Control of a Handheld Surgical Micromanipulator with Virtual Fixtures.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2013Article
- Motion-compensated hand-held common-path Fourier-domain optical coherence tomography probe for image-guided intervention.Biomedical optics express · 2012Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
3 authors at 1 institution in 1 country.
Funding
Abstract
Active compensation of physiological tremor for handheld micromanipulators depends on fast control and actuation responses. Because of real-world latencies, real-time compensation is usually not completely effective at eliminating unwanted hand motion. By modeling tremor, more effective cancellation is possible by anticipating future hand motion. We propose a feedforward control strategy that utilizes tremor velocity from a state-estimating Kalman filter. We demonstrate that estimating hand motion in a feedforward controller overcomes real-world latencies in micromanipulator actuation. In hold-still tasks with a fully handheld micromanipulator, the proposed feedforward approach improves tremor rejection by over 50%.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.