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The vascular intervention is performed with radioactive image guidance, so the operators are exposed to radiation. During the vascular intervention, the contrast media is injected often for providing clear images of target lesion. Repetitive injection task increases the procedure time and inconvenience. Also, accurate dosage is important to avoid the side effects from over usage of the contrast media...
In this paper, the four-channel acceleration based control with communication disturbance observer and band eliminate filter is proposed. In previous research, authors proposed 4ch ABC with BEE In this method, BEF is set on position response of slave, and this method suppresses an oscillation of position response. Therefore, position response is improved. However, this method makes the large operational...
In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics...
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...
Human motion recognition systems play an important role in improving the ability of robots to support human life. This paper proposes a novel motion recognition method based on haptic data (i.e., position and force information). First, haptic data are obtained using a bilateral control system. Second, the haptic data are divided into action components, using modal transformation. Finally, both the...
Since the advance of the aging society with a falling birthrate, technical inheritance has been a serious problem. This paper proposes a method to provide a skillful motion. First, haptic data (i.e., position and force information) is acquired using a bilateral control system. Second, the acquired haptic data is divided into action components by using modal transformation. Third, position and force...
Telesurgery means the remote application of interventional medical techniques; a concept that is currently widely practiced around the world for short distance through master-slave robot systems. The concept has the potential to service long distance telesurgery as well. However, this requires the effective handling of communication latency. The current paper suggests a fuzzy control solution for...
This paper proposes a method to recognize human motion using DP matching based on position and force information. In this method, the position and force information is acquired by bilateral control system. Two kinds of motion information are recorded beforehand. These are called a reference pattern and an input pattern. The reference pattern is data of simple human motion, and the input pattern is...
Remote transmission of high quality sense of touch requires the representation of multiple tactile properties and compensation of communication delay. We developed a real-time remote transmission system that can deliver multiple tactile properties using a master-slave robot system. First, we assessed what type of tactile properties should be transmitted and how to connect them in real time. Three...
To solve the troubles existing in laryngeal surgical operation and extend surgeon's ability, a master-slave robot system with the name ??Microhand-III?? was designed. The novel slave robot employs hybrid mechanism and enables the 7 DOF end effector complex surgical manipulation ability. Mechanical details of the slave robot were described and an experiment prototype was established. The kinematics...
In this paper we consider a master-slave robot system communicating across a bilateral communication network subject to information loss. The dynamics of the network are modelled as two binary variables. The resulting overall system is a switched system composed of master and slave with continuous dynamics, and the network which serves as switching law. The master and slave on each side of the network...
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