[Development of real-world haptic technology].
Identifieur interne : 002134 ( Ncbi/Curation ); précédent : 002133; suivant : 002135[Development of real-world haptic technology].
Auteurs : Kouhei Ohnishi [Japon] ; Tomoyuki Shimono ; Kenji NatoriSource :
- Gan to kagaku ryoho. Cancer & chemotherapy [ 0385-0684 ] ; 2012.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Robotics.
- Minimally Invasive Surgical Procedures, Surgery, Computer-Assisted, Surgical Instruments.
Abstract
This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control(ABC method)are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.
PubMed: 22790037
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pubmed:22790037Le document en format XML
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<author><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name>
<affiliation wicri:level="1"><nlm:affiliation>Dept. of System Design Engineering, Keio University, Japan.</nlm:affiliation>
<country xml:lang="fr">Japon</country>
<wicri:regionArea>Dept. of System Design Engineering, Keio University</wicri:regionArea>
<wicri:noRegion>Keio University</wicri:noRegion>
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<author><name sortKey="Shimono, Tomoyuki" sort="Shimono, Tomoyuki" uniqKey="Shimono T" first="Tomoyuki" last="Shimono">Tomoyuki Shimono</name>
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<author><name sortKey="Natori, Kenji" sort="Natori, Kenji" uniqKey="Natori K" first="Kenji" last="Natori">Kenji Natori</name>
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<sourceDesc><biblStruct><analytic><title xml:lang="en">[Development of real-world haptic technology].</title>
<author><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name>
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<author><name sortKey="Shimono, Tomoyuki" sort="Shimono, Tomoyuki" uniqKey="Shimono T" first="Tomoyuki" last="Shimono">Tomoyuki Shimono</name>
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<author><name sortKey="Natori, Kenji" sort="Natori, Kenji" uniqKey="Natori K" first="Kenji" last="Natori">Kenji Natori</name>
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<series><title level="j">Gan to kagaku ryoho. Cancer & chemotherapy</title>
<idno type="ISSN">0385-0684</idno>
<imprint><date when="2012" type="published">2012</date>
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<term>Robotics (instrumentation)</term>
<term>Surgery, Computer-Assisted</term>
<term>Surgical Instruments</term>
</keywords>
<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term>
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<keywords scheme="MESH" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term>
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<front><div type="abstract" xml:lang="en">This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control(ABC method)are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.</div>
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