Abstract
The implemented Force-Torque (FT)-control so far greatly enhances the system’s usability (compare to Sect. 5.3.2). However, general safety of the robotized TMS system cannot be achieved with the presented implementation. As all necessary computations are performed in software, safety can only be achieved on a software layer (cf. Sect. 5.2). This implementation does not provide additional safety to the hardware layer. Due to the setup, an additional latency is unavoidable. On one hand this results in slow robot movements for the hand-assisted positioning. On the other hand, a robot stop in case of an error or collision cannot be performed instantaneously. The latency is roughly 200 ms (see Sect. 5.3.3).
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References
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Richter, L. (2013). FTA-Sensor: Combination of Force/Torque and Acceleration. In: Robotized Transcranial Magnetic Stimulation. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-7360-2_6
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DOI: https://doi.org/10.1007/978-1-4614-7360-2_6
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