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This paper proposes a novel method which detects a rupture of organs based on environmental impedance estimation. The proposed method detects the rupture of the organs which is conducive to serious medical accident. The environmental impedance is estimated from position and force responses of a surgery robot by using recursive least-squares algorithm. The rupture behavior is analyzed, and thresholds...
Bilateral control system has been developed as a method to transmit a tactile sense. It enables human operators to feel as if they were really touching the environment. Teleoperation with the bilateral control has a wide range of application such as telesurgery, deep-sea operation, space mission, etc. However, the presence of the communication delay between master and slave systems degrades performance...
This paper describes a power assist control in pushing task by an electric wheelchair. Recently, wheelchairs are widely used in daily lives by disabled person. In this paper, a new power assist control using acceleration information of object is proposed as intelligent function of wheelchair. In this strategy, acceleration information of object is utilized to generate the power assist torque for wheels...
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