Development of real-world haptic technology

Kouhei Ohnishi, Tomoyuki Shimono, Kenji Natori

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

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 languageEnglish
Pages (from-to)1035-1038
Number of pages4
JournalJapanese Journal of Cancer and Chemotherapy
Volume39
Issue number7
Publication statusPublished - 2012 Jul

Keywords

  • Force feedback
  • Haptic forceps
  • Robotic surgery

ASJC Scopus subject areas

  • Oncology
  • Cancer Research

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