https://www.selleckchem.com/pr....oducts/d-luciferin.h
Studies have been conducted on slave-specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four-degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four DOFs in the master device causes low ergonomic performance. To enhance ergonomic performance, a second yaw joint was added as a redundant joint after considering the range of wrist motion and the workspace shape. Three experiments were performed to compare the intuitiveness and ergonomic performanc
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