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Title: The design and control of a manipulator for safety-critical deployment applications
Author: Reedman, Adam Victor Creyke
ISNI:       0000 0001 3511 4516
Awarding Body: Loughborough University
Current Institution: Loughborough University
Date of Award: 2002
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Development of manipulators that interact closely with humans has been a focus of research in fields such as robot-assisted surgery The recent introduction of powered surgical-assistant devices into the operating theatre has meant that modified industrial robot manipulators have been required to interact with both patient and surgeon Some of these robots require the surgeon to grasp the end-effector and apply a force while the joint actuators provide resistance to motion In the operating theatre, the use of high-powered mechanisms to perform these tasks could compromise the safety of the patient, surgeon and operating room staff. In this investigation, a two degrees-of-freedom (2-DoF) manipulator is designed for the purpose of following a pre-defined path under the direct control of the surgeon.
Supervisor: Not available Sponsor: Loughborough University ; Engineering and Physical Sciences Research Council (EPSRC)
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available
Keywords: Machinery & tools