Concepts of Human-Robot Cooperation for a new Medical Robot

Abstract

In this paper, hands-on concepts for the new medical robot KineMedic are presented and exemplied through a biopsy application. Hands-on provides, by simply touching and mov-ing the robot structure, a highly intuitive user interface for robot positioning. The KineMedic has an anthropomorphic structure with 7 DoF and is fully torque controlled. Due to the kinematic redundancy, the presented hands-on concept is particularly suitable since it allows not only for the TCP posi-tioning but also for the adjustment of the robot pose. Further-more, split duty is possible through the implemented control structure, i.e. motions commanded by the user through haptic interaction can be mapped into a space of user-controllable motions both in Cartesian and joint space, whereas the re-maining motion space is controlled by the robotic system. 1.