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Active Constraints for Simultaneous Guidance and Safety in Handheld Micromanipulation — arXiv:2610.37981

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.37981
License (as archived): CC0-1.0
Archived: 2026-11-01T02:44:08.753Z
SHA-256 of the archived text: b2508e6208c3eff0256d6e308413326a41802f82395887f353c90a66b2615839
Stable URL of this page: https://metraipolis.com/documento/dc_77fffae775c4

How to cite

Active Constraints for Simultaneous Guidance and Safety in Handheld Micromanipulation — arXiv:2610.37981 — arXiv (en), https://arxiv.org/abs/2610.37981 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_77fffae775c4 (Metraipolis archive dc_77fffae775c4, sha256 b2508e6208c3eff0256d6e308413326a41802f82395887f353c90a66b2615839)

BibTeX

@misc{dc77fffae775c4,
  title = {Active Constraints for Simultaneous Guidance and Safety in Handheld Micromanipulation — arXiv:2610.37981},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.37981},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_77fffae775c4; sha256 b2508e6208c3eff0256d6e308413326a41802f82395887f353c90a66b2615839},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.37981. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

In micromanipulation, erroneous hand motion limits unaided manipulation accuracy, which can affect task performance and safety in critical applications like microsurgery. Handheld robots (micromanipulators) enable motion accuracy beyond human limits by providing robotic assistance in a low-cost, compact, intuitive form factor. Particularly, active constraints are an effective form of robotic assistance, which aids the operator by restricting the robot's permissible motion based on task-specific requirements or objectives, thereby providing task guidance and enforcing safety. However, existing formulations of active constraints for handheld systems are limited, most notably because of the inability to provide guidance and enforce safety simultaneously. Implementing active constraints with optimization-based methods can address these limitations, but existing implementations are designed for free-standing robots, and neglect that handheld robots actuate relative to the operator's hand with a limited workspace. In this work, we propose an optimization-based active constraint framework for handheld micromanipulation that enables simultaneous guidance and safety enforcement. The formulation was implemented in a handheld robot and demonstrated on a medically relevant artificial task. Results show that the proposed formulation reduced safety violation rate by more than two orders of magnitude relative to baselines, while recovering the threefold accuracy loss from enforcing safety alone.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2610.37981 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-01T02:16:58.616Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).