Vascular anastomoses are essential microsurgery tasks that demand levels of manual dexterity and precision barely tenable by even the most practiced and skilled surgeons. Teleoperated robotic micromanipulation devices have the potential to improve the availability and proficiency of procedures involving these anastomoses by enabling precise, repeatable motion while filtering out physiological noise that often hampers manual manipulation. In order to be clinically effective and commercially viable, such robotic microsurgery devices must provide significant improvements in the feasible workspace, motion bandwidth, precision, and dexterity achievable with current manual microsurgery procedures [1].

The research presented here constitutes further steps toward the empirical characterization of manual microsurgery motion and interaction forces, and the development of proper microsurgery robot performance requirements based upon that characterization [2]. We design a multimodal measurement device comprised of an electromagnetic (EM) motion tracking system, three-axis accelerometers, and a high...

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