Data-Based Adaptive Fuzzy Wavelet Filter for Robot-Assisted System
One of the main problems for effective control of a minimally invasive surgery (MIS) is the imprecision that caused by hand tremor. In this paper, a new kind of nonlinear adaptive filter, the fuzzy wavelet neural network filter (FWNNF), is proposed to alleviate this problem. With the FWNNF, we can model and predict the hand tremor more effectively and improve the precision and reliability in the robot-assisted system for microsurgery. Extensive simulation results demonstrate the effectiveness of the proposed filter and its superior performance over its competing rivals.
Z. Liu et al., "Data-Based Adaptive Fuzzy Wavelet Filter for Robot-Assisted System", Advanced Materials Research, Vols. 255-260, pp. 1994-1998, 2011