繊細な力覚を提示する手術支援ロボットの操作系の運動学モデルと性能評価

抄録

We have developed the haptic MR fluid device for teleoperation endoscopic surgery systems to provide high-fidelity haptic feedback. We proposed an original mechanism that performs pivot motions and insertions of the forceps. This device used two sets of the MR fluid actuator for rolling and pitching rotation and two MR fluid brakes for insertion and grasping. In addition, the kinematic model and results of performance tests are described. According to the step response tests with an open-loop control method for the reaction force on the gripper, though the static force has at most 0.1 N error, it was remarkably stable.