Preprint
Aug 2026
A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units
A parallel motor-cable system installed around the robot workspace, cables with controllable tension connected to the robot end-effector can provide the desired external force without interfering with the movement of the surgical robot.
Haonan Peng, Dun-Tin Chiang, Jordan Hendricks et al.
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