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 master-slave system which is composed of multi degrees of freedom (DoF) forceps robots. In minimally invasive surgery, there are some advantages for patients because incision is small. However, it is difficult for surgeons. Therefore, in order to support surgeons, surgical robots are studied and developed. Although conventional surgical robots have high position accuracy, the...
Position error between master and slave occurs in bilateral control system under time delay and it is undesirable for delicate works. To solve this problem, this paper proposes a compensation method of position error in bilateral control under time delay. Firstly, the cause of position error is expressed. After that, it is shown that 3-channel bilateral control system, which is the conventional method,...
In recent years, it becomes more common for humans to use teleoperated robot systems. Mobile robot is effective as the teleoperated robot due to its large working area. The conventional mobile robots are generally controlled based on position and velocity control system, and they are not able to transmit tactile information. Introduction of force feedback is an effective solution, but it increases...
Power factor in mechanical system is a new concept to express characteristic in mechanical system. It defines dynamic behavior of the impedance characteristic in the motion. However, conventional derivation method requires short-time Fourier transformation in order to consider random input in mechanical system as a combination of sinusoidal waves. This paper proposes a novel method to obtain power...
Many studies on human support robots have been carried out hitherto. Bilateral control based on 4ch bilateral controller is an efficient method for human support. Bilateral control is a method for realizing transmission of force sensation between master system and slave system. However, in the case of multi-degree of freedom system, containing vertical motion, it is difficult to distinguish reaction...
Reproducibility and Operationality are used evaluation indices in bilateral control systems. Reproducibility shows degree of reproduction of the environmental impedance in master robot. Operationality shows degree of operation force which human operator feels obstacle force besides environmental impedance. In conventionally, operational force is equal to operationality. However, if system is non-ideal...
The objective of this study is reproduction of physical human actions. The information concerning the human actions are extracted by bilateral teleoperation systems using wearable tendon-driven robots. In the bilateral teleoperation systems, modal transformation is applied to achieve three control goals: position tracking, force feedback, and tension control. The extracted information is provided...
Robotics is a major field that is being researched for decades. With the use of robotic technology, applications of the microscopic level to the places where the human cannot reach are facilitated. When it comes to the larger robots, large actuators and drives have to be used to obtain the desired amount of power and the force or torque needed. As the electric motors have a limitation of torque output...
Advancement of the technology in the modern world facilitate for the development of many human supported machines such as robots. These machines use different kinds of mechanical structures and electrical dive systems with the use of proper controllers to achieve the desired task. However most of these robots need to be miniaturized although it is constrained due to various problems such as the actuator...
The most construction of conventional forceps robots developed for minimally invasive surgery are arm robots. Due to its configuration and motor alignment, arm robots are effected by large inertia force. These large inertia force make operators to drive robots difficulty. Therefore, in order to operate easily, the moving parts which are effected from gravity force should be small. Arm robots are made...
2-DOF haptic surgical multi drive robot is driven by multi drive linear motors, and does not separate hand function (manipulating mode) and arm function (grasping mode) of the human motion mechanically. Conventional method has one problem. When the operator want to grasp an object, he have to drive forceps open. This make operator difficult to use forceps finely and powerfully. A proposed method separates...
Tendon-driven systems are one of efficient methods to downsize robots. This paper discusses application of tension control into a joint using cable differential. Cable differential is mechanism which allows two-degrees of freedom (DOF) in one joint. Controllers for the cable differential-driven joint are proposed in the paper. The joint is actuated by four linear motors. The controllers are designed...
This paper proposes a method of measuring stiffness of organs using opening motion with 2-DOF haptic surgical forceps robots. Measuring stiffness of organs will be useful for making alert such as subsidiary fracture of organs to operator. Most of conventional method measures stiffness by pulling motion. However, this motion may break organs easily. On the other hand, proposed method measures stiffness...
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.