ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-01b7
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空気圧ベローズを用いた手術支援ロボットの把持力提示インタフェース
菅野 貴皓宮崎 良兼郡司 貴雄池内 宗司信安 勇二川嶋 健嗣
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会議録・要旨集 フリー

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Haptic feedback in teleoperated surgical robot systems enhances safety and efficiency of the surgery. In this paper, a haptic device, which displays the grasping force, is developed. The proposed device adopts welded metal bellows, which can be used as actuators by supplying compressed air. The device has three sets of bellows so that it has 2-DOFs and can display both positive and negative grasping force. A control method is developed, which converts the reference force to the thumb and the index finger to the reference pressure, and then controls the internal pressure of the bellows. An experiment using the proposed device and a virtual environment is conducted. The tracking performance of the force is shown.

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