Abstract
This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control (ABC method) are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.
| Original language | English |
|---|---|
| Pages (from-to) | 1035-1038 |
| Number of pages | 4 |
| Journal | Japanese Journal of Cancer and Chemotherapy |
| Volume | 39 |
| Issue number | 7 |
| Publication status | Published - 2012 Jul |
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Keywords
- Force feedback
- Haptic forceps
- Robotic surgery
ASJC Scopus subject areas
- Cancer Research
- Oncology
Cite this
Development of real-world haptic technology. / Ohnishi, Kouhei; Shimono, Tomoyuki; Natori, Kenji.
In: Japanese Journal of Cancer and Chemotherapy, Vol. 39, No. 7, 07.2012, p. 1035-1038.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Development of real-world haptic technology
AU - Ohnishi, Kouhei
AU - Shimono, Tomoyuki
AU - Natori, Kenji
PY - 2012/7
Y1 - 2012/7
N2 - This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control (ABC method) are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.
AB - This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control (ABC method) are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.
KW - Force feedback
KW - Haptic forceps
KW - Robotic surgery
UR - http://www.scopus.com/inward/record.url?scp=84866340801&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866340801&partnerID=8YFLogxK
M3 - Article
C2 - 22790037
AN - SCOPUS:84866340801
VL - 39
SP - 1035
EP - 1038
JO - Japanese Journal of Cancer and Chemotherapy
JF - Japanese Journal of Cancer and Chemotherapy
SN - 0385-0684
IS - 7
ER -