書誌事項
- タイトル別名
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- 1P1-G11 Development of a haptic master-slave system using pneumatic drive multi-DOF forceps for laparoscopic surgery
抄録
In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. In this paper, a 7DOF forceps manipulator as slave has been developed using pneumatic actuators. We also developed a master manipulator using a delta mechanism and a gimbal mechanism with a force sensor and motors with reduction gears. In the developed master-slave system, we applied different impedance control to each manipulator. The force control type of impedance control is adopted without force sensor for the pneumatic slave manipulator. For the master manipulator admittance control is implemented. The experimental results indicated that the operator could feel the force at the slave side to a satisfactory extent.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2007 (0), _1P1-G11_1-_1P1-G11_2, 2007
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205934285056
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- NII論文ID
- 110008695259
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可