TY - JOUR
T1 - Dynamic estimation of environmental stiffness by bilateral control
AU - Takei, Takayoshi
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2009
Y1 - 2009
N2 - Recently, minimally invasive surgery (MIS) has become apparent. Research has been performed on surgical robots needed in MIS. In the case of MIS, it is effective to express environmental impedance as numerical data in order to preserve it for establishing standard reference values of the conditions of internal organs. In this paper, we propose a novel method for the estimation of stiffness in real environments in which bilaterally controlled robots are needed. By using the proposed method, environmental stiffness can be estimated dynamically regardless of the initial position of slave system. The viability of the proposed method is confirmed from the experimental results.
AB - Recently, minimally invasive surgery (MIS) has become apparent. Research has been performed on surgical robots needed in MIS. In the case of MIS, it is effective to express environmental impedance as numerical data in order to preserve it for establishing standard reference values of the conditions of internal organs. In this paper, we propose a novel method for the estimation of stiffness in real environments in which bilaterally controlled robots are needed. By using the proposed method, environmental stiffness can be estimated dynamically regardless of the initial position of slave system. The viability of the proposed method is confirmed from the experimental results.
KW - Bilateral control
KW - Disturbance observer
KW - Haptics
KW - Mortion control
KW - Stiffness estimation
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U2 - 10.1541/ieejias.129.601
DO - 10.1541/ieejias.129.601
M3 - Article
AN - SCOPUS:67651155849
VL - 129
SP - 9+601-607
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 6
ER -