Active backdriving for a robotic arm
US10786317B2 · kind B2 · utility
224Cited by
8References
18Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Dec 11, 2017 |
| Grant date | Sep 29, 2020 |
| Priority date | — |
| Expiry date | Oct 26, 2038 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2017/00017
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.