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BACKGROUND
The objective of this study was to identify the clinical utility of genomic analysis of ascitic fluid cytology (AC) in patients with epithelial ovarian cancer.
METHODS
Targeted next‐generation sequencing was used to analyze 66 samples from 33 patients who had ovarian (n = 23), fallopian tube (n = 2), and peritoneal (n = 8) carcinoma, and the concordance rate of molecular profiles was...
Background
Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage.
Methods
To meet the demands, we developed a novel assist robot utilizing high‐precision sensorless haptic technology. The robot adopts a cable‐driven mechanism to maintain a distance from the...
This paper proposes an online compensation method of gravity and friction by least squares method (LSM) for robots implementing haptics. In order to expand the range of tasks using the robot such as telepresence robot, implementing haptics technology is essential. However, with higher gear ratio motors, the friction lowers the quality of the haptic transmission. In order to comfortably control the...
This paper aims to realize sensorless motion transmission for haptic teleoperation between remote places. Sensorless systems are endurable against operations under harsh environments. This is a great advantage suitable for teleoperation systems. To achieve this purpose, two types of voltage compensation are proposed for torque transmission and velocity synchronization. These two targets are known...
In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional...
Wireless power transfer (WPT) is expected to spread around the world. WPT has two types, one is magnetic induction and another is magnetic resonant coupling (MRC). In magnetic induction, the amount of received power is determined by the transfer distance and the amount of magnetic flux through receiving coil. Therefore in transferring power to multiple receivers at each fixed transfer distance, power...
This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and...
Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force...
In an aging society, most of walking assistance device has been researched in an aspect of augmentation system which assists the human walking by torque enough. However the user depends on the performance of assistance device without the independent reliance. Therefore we researched the compensation system which offers the minimum torque required during the human walking. Furthermore the stability...
This paper proposes a new design of a one actuated degree of freedom wearable finger exoskeleton for rehabilitation. The purpose of this device is to assist patients during their rehabilitation process, after neurological trauma such as a stroke. To increase the wearability and adaptability of this system, a flexible actuator, using wire mechanism, has been integrated. Moreover, 3D printers have been...
In this paper, a new robust force controller is proposed for Series Elastic Actuators (SEAs) by using conventional Sliding Mode Control (SMC) and Disturbance Observer (DOb). The position measurement of the actuator's link is subtracted from the desired deflection of the spring so that the force control goal is defined as the desired position of the motor; i.e., the force control is simply performed...
This paper proposes a new state-space controller for the robust trajectory tracking control problem of multi-mass resonant systems. It is designed in state-space by combining Differential Flatness (DF) and a higher order Disturbance Observer (DOb). The former systematically generates the control input and state references of a state feed-back controller so that not only regulation but also trajectory...
With the increase in aging population of many developed countries, the demand of walking or standing up assist device has grown. This paper presents structure and control system of novel assist device, Intelligent Tension Pole (ITP), to assist walking and standing up in room considered supporting for self-reliance, space saving, and stability. Two-wheel and one-wheel are added to lower and upper ends...
The field of human motion analysis has researched with designing the rehabilitation robot system. In the present, there are many robot systems dealing with the human motion but they are heavy and hard to use simply at home. Moreover they especially have a particular purpose focused on the single human motion then the usability of these systems is low and fragmentary about a variety of motions. To...
Sensorless control of brushless DC motors (BLDCMs) by detecting back electromotive force (back-EMF) is widely used because of ease of equipment. As conventional method, back-EMF detecting method by using phase lock loop (PLL) is used. This method uses the nature that back-EMF of γ-axis is related to estimated angular error. As usual, back-EMF of d-axis is zero in the case of using position sensor...
As the development of electrical transportation systems, two-wheeled mobile robots have been widely studied because of the high mobility. Among them, the two-wheeled wheel chair is the wheel chair without caster wheels, and moves and stabilizes with only two wheels. However, wheel chairs cannot move lateral direction in general, and they sometimes fall down and cause into serious accidents. In this...
This paper proposes a haptic prosthetic hand to realize intuitive operation for upper limb amputees. In the conventional myoelectric prostheses, it was hardly unable to control the grasping force precisely or to grasp an unevenly shaped object flexibly. In this paper, development of haptic prosthetic hand is achieved, which realizes intuitive operation by the following two functions: first, is the...
The objective of this research is to develop a meal assistance device for patients, who lost the ability to move their own body except for the head and the neck due to disease, accidents, congenital factors, and aging. Main problems of existing conventional devices are “cost”, “size”, “complexity”, “appearance”, and “feeling of alive”. This paper tackles the above problems and explains structure of...
This paper proposes position control system based on measurements of an inertia measurement unit (IMU) sensor (composed of a gyro sensor and an acceleration sensor) attached on the tip position of a 2-link planar manipulator. To estimate joint angle from only one IMU sensor, velocity applied to end effector is required. However, it is difficult to measure accurate velocity from integration of measurements...
Replacing nurses and caregivers by human-friendly robots is drawing the attention of the next generation for elderly people assistance and those with special needs. However, the human-machine cooperative control is still a key challenge in this domain. This paper presents a new approach for walking assist control that uses Inertial Measurement Units (IMUs) fixed on elderly people's body to track their...
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