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. Author manuscript; available in PMC: 2011 Mar 29.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010 Sep 1;2010(26-29):814–819. doi: 10.1109/BIOROB.2010.5625991
Algorithm 1 Micro-force guided cooperative control.

  • if handle is not engaged then

    • do 10

  • else if tip is engaged and tip is opposing handle then

    • do 9

    • if tip is close to limit then

      • do 8

    • end if

  • else

    • do 7

  • end if