In this paper, we investigate a motion-tracking system for robotic computer-assisted implant surgery. Failure of the accurate implant positioning may result in significant problems, thus an accurate real-time motion-tracking system is crucial for avoiding these issues in computer-assisted implant surgery. Essential features of the motion-tracking system are analyzed and classified into four categories: workspace, sampling rate, accuracy, and back-drivability. Based on this analysis, requirements for each category have been derived to ensure that the motion-tracking system meets the desired performance criteria. A novel 6-DOF motion-tracking system is proposed which demonstrates high accuracy and back-drivability, making it suitable for use in computer-assisted implant surgery. The results of the experiments confirm the effectiveness of the proposed system in achieving the essential features required for a motion-tracking system in robotic computer-assisted implant surgery.

In this paper, we study the problem of control design for physical human–robot interactions. By exploring the general topology of the given control problem, we propose a generic control architecture (TDA) based on 2DOF Youla-based control. Compared to the inherent properties and tradeoffs of classical admittance control, the proposed TDA enhances nominal performance while guaranteeing coupled-stability conditions. The proposed control design method is demonstrated with numerical simulations and experiments.