OPENTECHNICAL PUBLICATION
OT-2026-000001892

Techniques for following commands of an input device using a constrained proxy

Published: 2026-09-15T19:09:20.580035Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001892
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

Disclosed techniques include a computer-assisted device having an input
control, a functional structure, and a processing system. The functional
structure is configured to include a repositionable structure, and the
repositionable structure is configured to support an instrument. The
processing system is configured to receive a movement command from the input
control, update a pose of a proxy based on the movement command and a proxy
constraint, and cause the functional structure to move based on the updated
pose of the proxy. In some embodiments, the input control controls a pose of a
virtual leader device. The processing system updates a pose of a proxy based
on the pose of the virtual leader device, updates a pose of a virtual follower
device based on the updated pose of the proxy, and causes the functional
structure to move based on the pose of the virtual follower device.

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OpenTechnical publication OT-2026-000001892
Published 2026-09-15T19:09:20.580035Z
https://opentechnical.org/p/OT-2026-000001892