Real-time Filtering of Physiological Tremor for Microsurgery. Physiological Tremor Robotic Compensation

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Document from the year 2020 in the subject Engineering - Robotics, grade: 2, , course: PhD, language: English, abstract: The work conducted in this dissertation focuses on issues that are related to the accurate and real-time separation of physiological tremor components from the sensed motion. This dissertation mainly focused on developing new algorithms and techniques for accurate modeling and prediction of physiological tremor components ( the filtering and modeling system) for the hand-held instruments. The methods developed in the course of this dissertation were validated with the physio...