[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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