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A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery

Caspar Gruijthuijsen, Gianni Borghesan, Dominiek Reynaerts, Emmanuel B. Vander Poorten. A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery. IEEE Robotics and Automation Letters, 4(3):3029-3036, 2019. [doi]

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