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Aiming at the difficulty of force control in impedance control lies in the unknown parameters of the environment, a reference trajectory generation approach for impedance control is presented, which uses neural networks to estimate the environment parameters. In this method, the environment parameters are estimated by a neural network (NN1), which constructs the relationship between the environment...
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...
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