Current instruments
have low dexterity, unnatural interface Current instruments
have low dexterity, unnatural interface Glove
has index, thumb, and wrist flex sensors; wrist rotation sensor Calibration
procedure defines a mapping between hand positions and robot positions
Surgical
Master for bracing surgeon's arm and providing force and tactile feedback.
The master has 7 degrees of freedom.
Shankar Sastry (sastry@robotics.eecs.berkeley.edu) / September
1996.