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In order to realize a less invasive robotic neurosurgery for the deeply seated tumor, a force detecting gripper with a flexible micro manipulator has been developed. Gripping force applied on the gripper is detected by strain gages fit on the gripper clip. Signal is conducted to the amplifier by the cables through the inner pipe of the manipulator. In order to approach to the deeply seated tumor through...
Many kinds of exoskeleton robots have been developed to assist the motion in rehabilitation and daily living of physically weak persons. The concept of perception-assist has been proposed to assist not only the daily motion but also the interaction with an environment, by applying the modification force to the user's motion. In this paper, task-oriented perception-assist is proposed to assist the...
The authors are developing a knee joint robot as an educational tool for students becoming physical therapist (PT) or occupational therapist (OT). The robot can simulate some problems of a knee joint, such as range of motion trouble, contracture, rigidity, spasticity and so on. The robot has a knee joint mechanism to realize not only flexion/extension movement but also inner/outer rotation movement,...
Natural orifice translumenal endoscopic surgery (NOTES) is a surgery which is performed with an endoscope passed through natural orifice. This technique does not require external incisions on the body surface and has the advantage that the recovery of a patient is early. In such a case, it is necessary for an endoscope to have the flexibility to avoid damaging other body parts. Many flexible endoscopes...
A structural optimization method of a three-axis force sensor for robot fingers is proposed. To achieve dexterous hands like human hands, it is important to measure the forces loaded on robot fingers. We have been developing three-axis force sensors that can detect three-axis forces simultaneously with strain gauges. This sensor is small and can be produced inexpensively. However, because the proposed...
A multi-axis force/moment sensor, which can measure force and moment, is helpful for robotic force control. However, the smallest multi-axis force/moment sensor has excessive height, which restricts postures in tasks by a robot hand. Therefore, we aim to optimize the structure of the thin-type four-axis force/moment sensor that we developed, which can measure the twisting moment on the finger cushion...
A multi-axis force/moment sensor that can measure force and moment is helpful for robotic force control. But the smallest multi-axis force/moment sensor has oversized height and worsens the stability of tasks. So the development is expected of a thin-type multi-axis force/moment sensor enabling a robot hand to grasp an object as if it were human. Therefore, we aim to develop a thin-type four-axis...
We fabricated two kinds of cantilever actuator and a traveling machine by using magnetostrictive Tb-Fe and Sm-Fe thin films on a polyimide substrate. No power supply cable is required for their actuation, because they are driven by an external magnetic field. The magnetostrictive cantilevers exhibited a large deflection in low magnetic fields. Their unique characteristics suggest that magnetostriction...
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