| Project/Area Number |
21760190
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
TADANO Kotaro Tokyo Institute of Technology, 精密工学研究所, 助教 (90523663)
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| Co-Investigator(Renkei-kenkyūsha) |
KAWASHIMA Kenji 東京工業大学, 精密工学研究所, 准教授 (40300553)
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| Project Period (FY) |
2009 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2009: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
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| Keywords | 手術ロボット / 力覚提示 / インピーダンス制御 / バイラテラル制御 / 安全性評価 / 腹腔鏡手術 / 空気圧アクチュエータ |
|---|
| Research Abstract |
In this research, a pneumatic-driven forceps manipulator that is able to estimate external forces without using any forceps sensor was newly developed. The force sensitivity was improved to about 0.5N and the effectiveness of the developed system was confirmed through in-vivo experiments. We confirmed presence of parameters of the damping coefficient that maximize the efficiency of a basic task. Also, we proposed an impedance control system that changes the damping coefficient on the basis of human kinematic characteristics. The system realized both operability and stability.
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