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Abstract. MARGE is a joint project in the framework of the interdisciplinary national program in Robotics, called ROBEA, launched by the French National Research Center (CNRS) in 2001. The focus is on the development of design methodologies and on the control of high mobility and dexterity assistive devices for complex gesture assistance in minimally invasive surgery, especially for coronary artery bypass grafting. This paper presents the main results of this two-year project.

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