1P1-V09 バックドライバビリティを有するアドミタンス型ハプティックインターフェースの外乱補償

抄録

Recently, the study for master-slave surgical robots, which has bilateral force feedback control, is attracting a lot of attention. At the same moment, you need haptic interfaces which are effective for controlling these surgical robots safely and precisely. In our laboratory, we have developed some admittance-based haptic interfaces because these interfaces have some characteristics which are effective for robotic surgery. However, when those devices move, they generate a little vibration because those devices are designed with unduration wave gearing systems. This vibration makes ill effect for controlling surgical robots precisely. In this research, we design a new admittance-based haptic interface and taking away such vibrations.