Dynamic Estimation of Environmental Stiffness by Bilateral Control
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- Takei Takayoshi
- Department of System Design Engineering, Keio University
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- Shimono Tomoyuki
- Department of System Design Engineering, Keio University
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- Ohnishi Kouhei
- Department of System Design Engineering, Keio University
Bibliographic Information
- Other Title
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- バイラテラル制御による環境剛性の動的推定法
- バイラテラル セイギョ ニ ヨル カンキョウ ゴウセイ ノ ドウテキ スイテイホウ
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Abstract
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.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 129 (6), 601-607, 2009
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390282679635697408
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- NII Article ID
- 10024776483
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 10326244
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed