Sang, Hongqiang; Huang, Fang; Lu, Wei; Han, Rui; Liu, Fen - In: Industrial Robot: the international journal of robotics … 51 (2024) 1, pp. 7-19
Purpose The patient-side manipulator (PSM) achieves high torque capability by combining harmonic servo system with high reduction ratio and low torque motor. However, high reduction ratio can increase inertia and decrease compliance of the manipulator. To enhance the backdrivability of the...
