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The objective of this paper is to design and implement a process about reverse engineering, which will generate smooth trajectories without using a high cost controller. Because contour of work pieces is more complex today, the trajectory planning and generation are essential in the whole process. In this paper, using Bezier curve to clarify the rough outline makes the process of reverse engineering...
In current flexible endoscopy, manipulating the endoscope is a major problem for surgeons. No surgeon can master the procedure without much experience. Accordingly, the objective of this study is to refine our Robotic Flexible Laparoscope System (RFLS) with more useful functions. We design a new kind of laparoscope mechanism suited for our RFLS. Furthermore, in maneuvering the laparoscope intuitively,...
Laparoscopic surgery has to be operated with an assistant during surgery, which requires training and high cooperation work between the surgeon and assistants. The objective of this study is to develop a laparoscopic system providing intuitive maneuverability. We develop a Robotic Flexible Laparoscope System (RFLS) with compliance effect including adaptive impedance and velocity control to assist...
This paper describes Cartesian position and force control with adaptive impedance/compliance capabilities for a humanoid robot arm including velocity control incorporate with End-Effector Fixation Control (EEFC). We successfully demonstrated the end-effector positioning to reach the target point in Cartesian coordinate frame based on force control without solving the inverse kinematic problem. The...
Laparoscopic surgery becomes mainstream in minimally invasive surgery. This paper proposes a robotic endoscope system with compliance effect including adaptive impedance and velocity control to assist laparoscopic surgery. The system consists of stereoscopic head mount display (SHMD) and five degrees of freedom (D.O.F.) endoscope. SHMD includes Motion Node (gyro sensor) and force feedback device....
This research presents the development of a multi-fingered robot hand for the application of massage. Massage is a helpful treatment for human body conditioning and therapy. This is a relative new and feasible application of multi-fingered robot hands except for the use as prosthesis and grasping applications. For the dexterous manipulation of the robot hand, impedance control is adopted. Impedance...
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