Determination of the Human-Robot Interaction Workspace for Robot Assisted Head Stabilization Control
Abstract
Accurate head immobilization is critical for medical procedures such as neuroimaging and intracranial radiation therapy, where even minor motion can compromise precision. Traditional methods, such as rigid stereotactic frames and thermoplastic face masks, are invasive, uncomfortable for patients, and require a time-consuming setup. To overcome these limitations, a novel approach employs a 6-degree-of-freedom (6DoF) robotic head holder that is integrated with real-time optical motion tracking, enabling dynamic compensation for head movements without physical restraint. However, implementing this system requires a detailed biomechanical understanding of skull-cervical spine interactions to define safe and effective motion limits. In this study, we conduct a human volunteer investigation using a 6DoF Stewart platform robot to characterize biokinematic workspace of the head-neck system and establish foundational data for human-robot interaction in precision head stabilization.
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BibTeX
@misc{liu2026determination,
title = {{Determination of the Human-Robot Interaction Workspace for Robot Assisted Head Stabilization Control}},
author = {Xinmin Liu and Alexander L. Van Slyke and Destinee Holloman and Ahmad Sakaamini and Rodney D. Wiersma},
howpublished = {arXiv},
year = {2026},
month = oct,
doi = {10.48550/arxiv.2610.27336},
eprint = {2610.27336},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2610.27336},
}
RIS
TY - UNPB
TI - Determination of the Human-Robot Interaction Workspace for Robot Assisted Head Stabilization Control
AU - Xinmin Liu
AU - Alexander L. Van Slyke
AU - Destinee Holloman
AU - Ahmad Sakaamini
AU - Rodney D. Wiersma
PY - 2026
DA - 2026/10/19
PB - arXiv
DO - 10.48550/arxiv.2610.27336
UR - https://arxiv.org/abs/2610.27336
AB - Accurate head immobilization is critical for medical procedures such as neuroimaging and intracranial radiation therapy, where even minor motion can compromise precision. Traditional methods, such as rigid stereotactic frames and thermoplastic face masks, are invasive, uncomfortable for patients, and require a time-consuming setup. To overcome these limitations, a novel approach employs a 6-degree-of-freedom (6DoF) robotic head holder that is integrated with real-time optical motion tracking, enabling dynamic compensation for head movements without physical restraint. However, implementing this system requires a detailed biomechanical understanding of skull-cervical spine interactions to define safe and effective motion limits. In this study, we conduct a human volunteer investigation using a 6DoF Stewart platform robot to characterize biokinematic workspace of the head-neck system and establish foundational data for human-robot interaction in precision head stabilization.
ER -