Modulated potential field for position adjusting with human interaction for implant surgery

Koyo Yu, Tomohiro Nakano, Kouhei Ohnishi, Shin Usuda, Taneaki Nakagawa, Hiromasa Kawana

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

1 Citation (Scopus)

Abstract

Image processing and robotics are leading technologies to improve dental surgery. The important information for physicians to perform implant surgery is 'where to start cutting' and 'when to stop cutting'. The aim of this research is to achieve automatic guide system for teaching the information of 'where to start cutting'. To achieve this aim, L-J potential field, which can realize required performance of position adjustment with human interaction are proposed in this paper. Proposed potential field has three features. First, physician can free moving the manipulator when far from the distinction. Second, the manipulator will apply adjusting force for correctly converges to the destination when approaching to the distinction. Third, the manipulator will apply adjusting force for collision avoidance when passing the distinction. The validity of proposed L-J potential are confirmed through experiment using 2DOF parallel link manipulator.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages234-239
Number of pages6
ISBN (Electronic)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Publication series

NameProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

Keywords

  • force control
  • human assistance
  • manipulator
  • motion control
  • potential field

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Yu, K., Nakano, T., Ohnishi, K., Usuda, S., Nakagawa, T., & Kawana, H. (2015). Modulated potential field for position adjusting with human interaction for implant surgery. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 234-239). [7083980] (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7083980