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This paper presents the control of a pneumatically actuated master–slave system intended for teleoperated needle insertion in the liver under magnetic resonance imaging (MRI) guidance. It addresses the challenge of achieving accurate needle positioning and force feedback to the operator in the case of pneumatic actuation with significant friction. Using time-delay position control as the basis, we...
Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain...
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...
The controller design is one of the major difficulties in realizing robot-aided rehabilitation program. The purpose of our study is to develop an adaptive impedance force control strategy based on dynamic recurrent fuzzy neural network to maintain the stability of the rehabilitation robot system in the case when the patient's physical condition makes a change. An on-line identification method was...
In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. We have proposed a pneumatic surgical manipulator that is capable of estimating external force, without the use of force sensors. However, the force estimation had a sensitivity of only 3[N] because of inertia and friction effect. In this paper, we newly developed an improved...
The paper is to propose an intelligent human-machine cooperative control system for a medical robot. The cooperative robot control system consists of two layer control loops to combine both advantages of the human and machine. Therefore better outcome in bone resection and operation dexterity can be achieved than only each individual is deployed. From the experiment of bone resection of the knee joint,...
Robot-assisted rehabilitation therapy has been paid a lot of attention by robot researchers and therapists for its potential ability of rehabilitation training and assess. The purpose of our study is to develop a fuzzy adaptive control strategy based on traditional impedance control for providing optimal force to stroke patients. An online identification of parameters was used to estimate impaired...
Robotic cell microinjection is a technique that employs an automatic method to insert substances into a single living cell with a fine needle. Most available microinjection methods are based on position/velocity tracking, which make it incapable of controlling the injection force. The uncontrolled injection force, however, may destroy the cell and lead to the death of the cell. In this paper, a new...
This paper proposes a novel methodology for the control of prosthetic arms. The proposed controller predicts the intended forces at the tip of the prosthetic arm using an artificial neural network fed with electromyogram signals from the residual arm muscles and kinematic data from the prosthetic arm joint. The desired predicted force is then implemented at the prosthetic arm tip using a classic robot...
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