Human-machine Cooperative Manipulation with Vision-based Motion Constraints - Visual Servoing via Advanced Numerical Methods - page 65

in parallel ( e.g. a force-based guidance mode along a needle axis combined with a
vision-based virtual fixture to position the needle and a position-based alignment
fixture), and to sequence them. Ideas along these lines can be found in [17].
Acknowledgements. We would like to acknowledge the contributions of Panadda Maray-
ong and Allison Okamura to this work. This material is based upon work supported by the
National Science Foundation under Grant Nos. IIS-0099770 and EEC-9731478. Any opin-
ions, findings, and conclusions or recommendations expressed in this material are those of
the author and do not necessarily reflect the views of the National Science Foundation.
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