| Budget Amount *help |
¥17,940,000 (Direct Cost: ¥13,800,000、Indirect Cost: ¥4,140,000)
Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Fiscal Year 2013: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
Fiscal Year 2012: ¥9,100,000 (Direct Cost: ¥7,000,000、Indirect Cost: ¥2,100,000)
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| Outline of Final Research Achievements |
A force scaling strategy of teleoperation system is proposed using biological signals to improve the safety and efficiency. An EMG sensor is attached to the operator’s hand and the force scale is increased while the operator is straining, so that the decrease of human force perception can be canceled and keep the applied force to the environment constant. Experiments are conduct to verify the effectiveness of the proposed with the surgical robot developed by the authors.
An operator can feel the force with high accuracy by changing scaling ratio between the master and the slave, the sensitivity of force direction cannot be improved by the scaling. Therefore, we have proposed a device to display the force direction in addition to the sense of force by giving air jet stimulation to the operator’s fingertip. The effectiveness of the device is proved experimentally using the surgical robot.
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