Virtual Fixture

Virtual fixtures are software-based constraints guiding robot movements, improving precision and efficiency in various tasks. Current research focuses on enhancing virtual fixture robustness by addressing singularities in control algorithms (e.g., using minimum-jerk approaches) and improving calibration methods through correspondence-free techniques that provide guaranteed pose bounds. Applications range from assisting in delicate medical procedures like ultrasound examinations to automating complex industrial manipulations of deformable objects, leveraging force feedback and advanced planning algorithms. This field significantly impacts human-robot collaboration and automation by improving task performance and reducing operator burden.