The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents the technological achievements in realizing the force feedback in surgical robots. No force sensor is used in sensing the force. Disturbance observer and its variant, reaction torque observer is used to detect the force. Bilateral control is used to transmit vivid sensations from the forceps end to the surgeon.
Force sensor-less bilateral control with thrust wire can realize low-cost bilateral applications and is very useful. However, there is a problem. Since modeling of the thrust wire is very difficult, there is disturbance from modeling error of the thrust wire. Thus, an operator feels heavy operational force caused by friction of the thrust wire. This is not suitable for bilateral control. Purpose of...
In this paper, real-time environmental recognition method is proposed. With this method, location of the contact points are described in three dimensions and directions of the forces are also described in three dimensions. At first, modes of the contact points are divided into two modes; ldquoforce moderdquo and ldquomoment moderdquo. After that, ldquoexternal moderdquo and ldquointernal moderdquo...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.