Function separation for 2-DOF haptic surgical forceps robots driven by multi drive linear motors

Kazuki Tanida, Takahiro Mizoguchi, Fumiya Mitome, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

2-DOF haptic surgical multi drive robot is driven by multi drive linear motors, and does not separate hand function (manipulating mode) and arm function (grasping mode) of the human motion mechanically. Conventional method has one problem. When the operator want to grasp an object, he have to drive forceps open. This make operator difficult to use forceps finely and powerfully. A proposed method separates two function of position in control. Conventional of grasping/manipulating control uses modal transformation matrix for master or slave robots to achive bilateral control between different structural. The proposed method use modal transformation matrix both master and slave robots between same structure. Moreover, the proposed method enables us to operate like actual forceps than conventional method. The validity of the proposed method is varified by experiments.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Tanida, K., Mizoguchi, T., Mitome, F., & Ohnishi, K. (2012). Function separation for 2-DOF haptic surgical forceps robots driven by multi drive linear motors. In International Workshop on Advanced Motion Control, AMC [6197134] https://doi.org/10.1109/AMC.2012.6197134