著者
武井 貴義 下野 誠通 大西 公平
出版者
The Institute of Electrical Engineers of Japan
雑誌
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)
巻号頁・発行日
vol.129, no.6, pp.601-607, 2009-06-01
被引用文献数
5 4

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.

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こんな論文どうですか? バイラテラル制御による環境剛性の動的推定法(武井 貴義ほか),2009 https://t.co/nZYx19xAtz
こんな論文どうですか? バイラテラル制御による環境剛性の動的推定法(武井 貴義ほか),2009 https://t.co/nZYx19xAtz

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