/Electromagnetic Tracker for Active Handheld Robotic Systems

Electromagnetic Tracker for Active Handheld Robotic Systems

Robert A. MacLachlan, Nicholas Parody, Shohin Mukherjee, Ralph Hollis and Cameron Riviere
Conference Paper, IEEE Sensors 2016, October, 2016

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This paper describes recent work in the development of the In-Loop Electromagnetic Tracker (ILEMT), designed to meet the demanding latency and resolution requirements for active stabilization of hand motion during precision manipulations such as microsurgery. The prototype surpasses the fastest commercial EM trackers by > 4x in root bandwidth/resolution and 2x in latency. The use of two widely spaced carrier frequencies (e.g., 300 Hz and 10 kHz) enables a particularly simple way of reducing the eddy-current interference caused by nonferrous metals present in the workspace. Previously, metal compatibility has only been achieved at a large cost to measurement speed.

BibTeX Reference
author = {Robert A. MacLachlan and Nicholas Parody and Shohin Mukherjee and Ralph Hollis and Cameron Riviere},
title = {Electromagnetic Tracker for Active Handheld Robotic Systems},
booktitle = {IEEE Sensors 2016},
year = {2016},
month = {October},