Position and force control of a medical parallel robot for ultrasound imaging

This video demonstrates the position and force control of MedRUE, a 6-DOF medical robot for vascular ultrasound examination. This is the second version of the robot, with no ultrasound probe attached yet, designed and machined by Jonathan Coulombe. The first part of the video shows a simulation of the scan of a leg of a virtual patient who is lying horizontally. The second part of the video shows Longfei Zhao demonstrating the force control mode that he has implemented as part of his Ph.D. project.

[@txyzinfo]

super. please more information about the sensor. brand/model/etc. load cell based I assume?

[@chaiyapornsilawatchananai7137]

PID controller ?