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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2019 Jul 1;67(4):966–977. doi: 10.1109/TBME.2019.2926060

Fig. 1.

Fig. 1.

Overview of the AICF consisting of a force sensing tool, an RNN predictor, an admittance control system, and the SHER research platform. The robotic manipulator is activated to move at a varying speed in order to decrease the resulting scleral forces. Fx and Fy are the two components of the scleral force measured by the force sensing tool. W1, W2, and γ are the parameters of the admittance controller, Fsh and Fhh are the maneuver forces applied by the user resolved in different coordinate system.