With a self-weight of 10 kg and a maximum arm length of 1.1 m its dimensions are comparable to a human arm. Additionally the seven torque controlled joints of the robot are arranged to a shoulder (joints 1-3), an elbow (joints 4 and 5) and a wrist (joints 6 and 7), each with intersecting axes.
The seven degrees of freedom which make the robot kinematically redundant allowing a movement of the arm while the position and orientation of the tool center point remains fixed. This increases the flexibility of the robotic system and simplifies collision avoidance.
Depending on the application the robotic arm can be moved directly by the surgeon (hands-on control), telemanipulated from a master station with haptic feedback devices or operate in a fully autonomous mode.
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