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Possible deviation error can be compensated in two different ways: (a) manual compensation and (b) autonomous compensation. With manual compensation, the system defines both virtual fixtures and error compensation directions, but the surgeon must apply manual forces himself\/herself in order to generate end-effector motion. With autonomous compensation, a clear distribution of responsibilities between surgeon and robotic system is present, meaning the surgeon has complete control of the end-effector along the preferred directions, while the robot autonomously compensates for any deviation along the non-preferred directions.<\/jats:p>","DOI":"10.1017\/s0263574709990415","type":"journal-article","created":{"date-parts":[[2009,9,2]],"date-time":"2009-09-02T06:59:52Z","timestamp":1251874792000},"page":"267-277","source":"Crossref","is-referenced-by-count":21,"title":["Virtual fixtures with autonomous error compensation for human\u2013robot cooperative tasks"],"prefix":"10.1017","volume":"28","author":[{"given":"Ra\u00fal A.","family":"Castillo-Cruces","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J\u00fcrgen","family":"Wahrburg","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,9,2]]},"reference":[{"key":"S0263574709990415_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/21.52555"},{"key":"S0263574709990415_ref20","first-page":"142","volume-title":"Proceedings of the 6th IEEE International Workshop on Robot and Human Communication","author":"Kosuge","year":"1997"},{"key":"S0263574709990415_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/70.954751"},{"key":"S0263574709990415_ref18","first-page":"398","volume-title":"Proceedings of the 2nd IEEE International Workshop on Robot and Human Communication","author":"Kosuge","year":"1993"},{"key":"S0263574709990415_ref19","first-page":"49","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","author":"Kosuge","year":"1993"},{"key":"S0263574709990415_ref6","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems, Workshop on Visual Servoing","author":"Hager","year":"2002"},{"key":"S0263574709990415_ref14","first-page":"1316","volume-title":"Fourth International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI'01)","author":"Starkie","year":"2001"},{"key":"S0263574709990415_ref5","first-page":"27","volume-title":"Medical Imaging and Augmented Reality, Proceedings of the 2nd International Workshop, MIAR 2004","author":"Davies","year":"2004"},{"key":"S0263574709990415_ref9","first-page":"1270","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Li","year":"2004"},{"key":"S0263574709990415_ref8","first-page":"610","volume-title":"Proceedings of the IEEE International Conference Robotics and Automation","author":"Kumar","year":"2000"},{"key":"S0263574709990415_ref21","first-page":"2329","volume-title":"Proceedings of the 41st SICE Annual Conference","author":"Tsumugiwa","year":"2002"},{"key":"S0263574709990415_ref15","doi-asserted-by":"publisher","DOI":"10.1524\/auto.2005.53.12.615"},{"key":"S0263574709990415_ref12","doi-asserted-by":"publisher","DOI":"10.3109\/10929080109146303"},{"key":"S0263574709990415_ref25","volume-title":"Proceedings of World Haptics","author":"Prada","year":"2005"},{"key":"S0263574709990415_ref13","first-page":"14","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Marayong","year":"2003"},{"key":"S0263574709990415_ref16","first-page":"908","volume-title":"IEEE Conference on Robotics and Automation","author":"Kazerooni","year":"1989"},{"key":"S0263574709990415_ref4","first-page":"1954","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kapoor","year":"2003"},{"key":"S0263574709990415_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.829483"},{"key":"S0263574709990415_ref10","first-page":"1408","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Li","year":"2005"},{"key":"S0263574709990415_ref2","first-page":"3354","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Bettini","year":"2002"},{"key":"S0263574709990415_ref23","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-1430-4"},{"key":"S0263574709990415_ref1","first-page":"49","volume-title":"Proceedings of the 12th International Symposium of Robotics Research, 2005","author":"Abbott","year":"2007"},{"key":"S0263574709990415_ref24","first-page":"49","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Mayorga","year":"1988"},{"key":"S0263574709990415_ref7","doi-asserted-by":"crossref","first-page":"292","DOI":"10.3109\/10929080309146067","article-title":"A navigated mechatronic system with haptic features to assist in surgical interventions","volume":"8","author":"Wahrburg","year":"2003","journal-title":"J. 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