TY - GEN
T1 - Modulated potential field for position adjusting with human interaction for implant surgery
AU - Yu, Koyo
AU - Nakano, Tomohiro
AU - Ohnishi, Kouhei
AU - Usuda, Shin
AU - Nakagawa, Taneaki
AU - Kawana, Hiromasa
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - 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.
AB - 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.
KW - force control
KW - human assistance
KW - manipulator
KW - motion control
KW - potential field
UR - http://www.scopus.com/inward/record.url?scp=84929314256&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929314256&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7083980
DO - 10.1109/ICMECH.2015.7083980
M3 - Conference contribution
AN - SCOPUS:84929314256
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 234
EP - 239
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -