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This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
This paper proposes a data-driven design method of a force controller using input/output data of a force control system, i.e., force response obtained when contacting to an unknown environment and input to a robot at that time. The force control system includes the environment to be contacted in addition to the robot itself. The force controller must be designed in consideration of the environment...
Gene therapies for heart failure have emerged in recent years, yet they lack an effective method for minimally invasive, uniform delivery. To address this need we developed a minimally invasive parallel wire robot for epicardial interventions. Accurate and safe interventions using this device require control of force in addition to injector position. Accounting for the nonidealities of the device...
A real snake has simple figure like a string, and has highly adaptability corresponding to the environments/tasks. A snake-like robot mimics such highly adaptability of the real snake, is expected as an adaptable robot corresponding to the environments/tasks. Many literatures have reported with respect to locomotion controls of the snake-like robot, but haven't reported studies for applications. However,...
Compared with machining by automation, handwork is suitable for high-variety low-volume manufacturing, because such manufacturing requires a lower cost and shorter lead time. However, high-concentration machining should be implemented in handwork. Our goal is to develop a finish machining support robot system that can realize high accuracy machining in the case of initial phase of deburring process...
The advantages of using force control in industrial or other type of robotic systems are well known. Study of such systems in virtual environment in the form of simulation is of great help for the design of a controller or a robot. In this paper, we show how to simulate different force control algorithms of a typical serial robot used in the industries before deciding to choose a suitable one for...
Controlling the interaction between the robot and living soft tissues has became an important issue as the number of robots inside the operating room increases. Many research works have been done in order to control this interaction. Nowadays, researches are running in force control for helping surgeons in medical procedures such as motion compensation in beating heart surgeries and tele-operation...
Active exercise is one of effective therapy in rehabilitation. In this paper an exoskeleton device for active wrist rehabilitation is proposed. A force model for the wrist mechanism of DULEX-II [7] is presented, and its control system for active exercise is designed based on the force model. In experiments the performance of the force control system was verified. From the results we show a possibility...
When a grinding ring polishes free-form surfaces by a robot with multi-point machining, the polishing force would be disturbed by the changes of profile of the machined surface. In this paper, a compliant system with a passive wrist is studied when it adapts the profile of the machined curved surface by changing its posture along with the surface. Under the hybrid movement — force control policy,...
Current cardiac surgery faces the challenging problem of heart beating motion even with the help of mechanical stabilizer which makes delicate operation on the heart surface difficult. Motion compensation methods for robotic-assisted beating heart surgery have been proposed recently in literature, but research on force control for such kind of surgery has hardly been reported. Moreover, the viscoelasticity...
In this paper, we consider leader-based shape coordination for multi-robot systems. It is shown that having knowledge about desired velocity and effective interaction among individuals can help group members to continue the path even after leader failure. Since any collective behavior emerges from interaction among individuals, we propose interactive force to maintain minimum distance among agents...
This paper presents a model-based method, called Dynamic Balance Force Control (DBFC), for determining full body joint torques based on desired COM motion and contact forces for compliant humanoid robots. The center of mass (COM) dynamics are affected directly through contact force control to achieve stable balance. This idea is used to formulate DBFC considering the full rigid-body dynamics of the...
To develop useful applications for the underwater robots, the first step is to study its performance, such as thrust force or swimming velocity. In order to avoid numerous parameter studies in evaluating its performance, the prediction model plays an important role. As fish's swimming includes the kinematic of its own body and the hydrodynamic interaction with the surrounding fluid, it is difficult...
We have previously shown that a hemispherical soft fingertip is in equilibrium when it is in contact with an object. The characteristics of the contact force and flexibility of a soft fingertip are important in stable grasping and manipulation. Hence, using these characteristics soft fingers can manipulate objects dexterously. We previously focused on a pair of 1-DOF fingers with soft fingertips....
This paper presents a synchronization scheme of bilateral teleoperation systems with time delay using genetic algorithms. In general, bilateral teleoperation systems have two main goals: stability and transparency. The system can be destabilized by time delay in the communication channel between the master and the slave. Also, transparency can be degraded by time delay. However, it is not easy to...
This paper proposes a method for composition of a task hierarchy as an example of oblique coordinate control. As a primary task, position limitation is implemented and bilateral control is realized secondary. This hierarchy is simply given by a multiple of coordinate transform matrices and the problem can be regarded as position-force hybrid controller in oblique coordinate. Thus, the interference...
In this paper, we propose a new internal model control based controller for sensorless force control. Simplification of the proposed controller is discussed, and stability of the controller is proved theoretically. Two controllers based on internal model control are applied to sensorless grasping control on a myoelectric robotic hand. Effectiveness of the proposed controllers is verified by comparative...
A new type of horizontal lower limbs rehabilitation robot based on parallel mechanism is developed according to the motion law of lower limbs and rehabilitation medicine theory, which is helpful for the disabled patients in lower limbs. It can help patients to do rehabilitation training of hips, knees and ankles. In order to ensure safety and comfort of affected limb in the course of training, the...
The use of robots in assistive roles will be an increasingly significant application for robotics. Assistive robots need to physically interact with humans in a safe manner. We propose the use of inflatable robot links as structural members instead of traditional rigid links. We believe such links would allow the development of inherently safe robots. For these robots to be useful in tasks such as...
A hybrid model/learning-based dynamic equation has been developed for robots in order to take advantage of the attractive features of both techniques. The regular dynamic equation is used to model the ideal behavior, while wavelets are used to learn the joint friction. The friction may be coupled, such that it is a function of the velocity of multiple joints. Furthermore, a system identification method...
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