Blunt dissection is a surgical technique to expose structures or to separate tissue without cutting. This paper addresses an element fracture model to avoid instability in blunt dissection simulation for virtual brain surgery. Blunt dissection is modeled by finite element fracture in which elements are fractured when their stresses exceed a specified fracture stress. However if an element is fractured without any consideration for connections with adjacent elements, the fracture may produce some structurally unstable elements. The structurally unstable elements cause computational instability. In order to avoid this instability problem, an element fracture model is proposed. The model is verified by comparing the results of blunt dissection simulation including the model with the results of the simulation without the model.

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Recently, a robotics system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a positioning (3D0Fs) and sheath (3DOFs) manipulator for vision control, and dual tool tissue manipulators can be attached at the tip of sheath manipulator. In the experiment, we evaluate the availability of the prototype and vision control.

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Recently, a robotics system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF)) can be attached at the tip of sheath manipulator. This paper presents the details of mechanism and control method of tool manipulator. The experimental result shows that our manipulator has the response with time delay of less than 4.5 mill-second in the range from 0.1Hz to 1Hz.

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We proposed a surgical robot for SPS with dynamic vision control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning (3DOF) and sheath (3DOF) manipulator for vision control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro experiment. The "cut and vision control" is suitable for precise cutting tasks in risky areas while a "cut by vision control" is effective for rapid macro cutting of tissues. A restriction task was accomplished using a combination of both methods.

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There are various issues in managing RT service in Kukanchi. We construct the environment that manages RT service with a focus on expandability. For this purpose, we design the management system using plug-ins to add and delete various functions easily. The demand of the service is different in each user; it is difficult for developers to construct the system for each user with the traditional approach. However, constructing the system using plug-ins as new functions, it becomes easy to expand the functions of the system.

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In this paper, we propose a navigation method of autonomous mobile robot by sign with ARToolKit. ARToolKit is popular technology in the area of argument reality. By using ARToolKit, the robot can detect the both information of type and position of sign. There are two important data for autonomous mobile robot. We can indicate a path of the robot by using sign. Therefore, if we apply the ARToolKit to sign for navigation, it is relatively easy to develop a autonomous mobile robot system. We explain the proposed method and confirm the effectiveness through experiments.

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In Japan, the number of elderly recipients who take medicines regularly has been increasing due to population aging. Since they sometimes induce the serious accidents caused by incorrect dosing, we propose intelligent medicine case (iMec) for assisting in monitoring. iMec recognizes whether a recipient has picked medicines up from its correct storage space for confirming dosing quantity. iMec also estimates the living state of him/her to confirm dosing timing. It collects the information necessary for living state estimation by using Ubiquitous Sensors and informs the dosing condition to caretakers thought iMec Server. By using iMec, they can check the dosing condition anytime, anywhere. And, they can also receive e-mail immediately when iMec detects the signs of incorrect dosing. We confirmed that iMec was able to detect medicines in the storage space and was able to estimate the present living state related to common dosing timings by experiments.

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In the research area of "Intelligent Space" (Kukanchi), it is necessary for the robot service to get environmental information. We have been developing the system to make environment map of Intelligent Space using location information obtained by Omni-directional Camera. In this research, we propose two of the problem. First, fix for calibration method that camera calibration and revision distortion. Second, the real-time update method on location information of the objects in the room. As a result we are able to get location information for Mobile Robot.

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In this research, we proposed the intelligent room service system by task localization. We assumed that we have the life logging database, for example temperature and the trace of user behavior. We extracted the frequently occurred service task at every place in the room by that database. We list up the frequently service task and put the weight on the database relation at the local place. After that we decide the priority of the service task and recommend the service for users. In this paper, we show the detail of the service system with task localization.

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Cities, where various functions are concentrated in limited area, have been suffering from chronic space shortage. High-rise buildings and underground have been developed to increase space use efficiency. However, those developments just lay out the spaces which are expanded in plane into vertical; there are the physical and monetary limitations. Therefore, the spaces which can change its functions easily/automatically depending on the situations are necessary to increase space use efficiency. In this paper, we propose smart variable space which realizes various functional spaces by changing its modules dynamically, and develop a bedroom module as an example of the module.

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Preserving the brain function is essential while maximizing resection in brain tumor surgery. Image-guided surgery represents a substantial improvement in the completeness of brain tumor. In the brain tumor adjacent to the normal tissue, however, it is challenging to achieve the complete resection while preserving the normal function. The reason is that the current devices for tumor resection are difficult to remove the remnant tumor with minute volume control. For example, a suction tube is a main surgery device for the brain tumor. However, the precise volume control is difficult because the suction pressure is controlled by the operator's finger motion. In this paper, we propose a novel suction tube which has a cautery knife, sensors, magnetic valves, and a vacuum regulator. The tube can control removal volume and can stop the suction when the operator performed a danger operation.

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In the field of endoscopic surgery, increasingly thin instruments are desired in order to reduce the invasiveness of endoscopic procedures, widen the applicability of endoscopy, and develop devices for new procedures. However, the thinner endoscopic instruments become, the smaller the end-effectors of the instruments need to be, which limits the functionality of the instruments. To resolve this problem, we have developed the new forceps with Least-Incision Transformable End-effector (LITE) mechanism that is transformed into a large end-effector in body cavity. Experimental results show that the grasping force was more than 5.3N and the averaged time in transformation of LITE mechanism by surgeons was 86 second. We also confirmed the basic performance of LITE forceps on in vivo experiment using a pig.

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In this paper, a microarm to support ESD (Endoscopic Sub-mucosal Dissection) is proposed. We designed and fabricated this tool characterized by decoupling wire drive. To verify the design of the microarm, the gripper is mounted on the tip of the microarm, we also show demonstration of the microarm.

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Vitreoretinal surgery is one of the most difficult microsurgery because surgeons have to manipulate extremely delicate tissues on the retina peering through a microscope. Only a few skillful surgeons who can manipulate the tools within a constrained workspace can successfully perform the surgery. In order to make more effective treatment with high precision and large workspace, we have developed a microsurgery system for vitreoretinal surgery. And our system has a mechanism for easy and quick instrument change to aid the surgeons. The result of some experiments using a pig eye shows that the stability of positioning accuracy is 15 μm in the pig eye and we performed a successful cannulation as preliminary experiment using our system.

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This paper describes the development and experimental results of a master manipulator for the workspace-creation manipulator for minimally invasive brain surgery. This master manipulator was developed for the purpose of maximizing the doctor's facility for performing operations. Therefore, the master manipulator needs to be easy to use for the doctor. This master increased by information offered to the doctor by the inner force power sense presentation mechanism. Moreover, the simulator in which the brain was assumed to be a model was made, and the training of the master operation was enabled. This model was made in consideration of physical properties of the brain.

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In this paper, a twisted spring-link mechanism, which is composed by a twisted and notched spring, is presented. In the structure of presented mechanism, 3 DOF kinematics is given by an elastic deformation of twisted and notched spring. By composing a parallel structure using the presented mechanism, it is possible to realize a backlash less parallel mechanism. The manipulator can be composed by a small number of mechanical parts comparing to conventional miniaturized manipulators. It can be beneficial for robustness, cost issue and cleanness (such as sterilization in a medical application).

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Endoscopic surgery is minimally invasive and presents many advantages for the patients such as reduced pain, small scar, and quick recovery. Many kinds of automatic endoscopic positioning systems have been developed to solve the problems in endoscopic surgery such as its difficulties in corporation between the surgeon and the camera assistant. However, the reliable methods have not been established for comparing and assessing different automatic endoscopic positioning systems. To solve this problem, we studied the method of assessment by using physiological features such as ECG and EEG and behavioral indicators such as blink and gravity point of foot pressure. In this study, we conducted the measurement of these indicators of one surgeon in endoscopic surgery.

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In the teleoperated minimally invasive surgery systems, the measurement and conveyance of sense of force to the operator is a problematic. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the effectiveness of the force feedback also has not been verified for practical tasks. Although an impedance control is implemented in the developed master-slave system, it has been unknown how large the impedance values should be set. In this paper, we evaluate the influences of the force feedback and an impedance parameter on performance of surgical tasks. Experimental results indicated that force feedback allowed operators to enhance the performance of suturing task. We confirmed that there were most suitable values in viscous coefficient for block-transfer task.

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We propose a commodity tracking system which is composed of an intelligent cabinet, a human/commodity tracking system, and Town Management System. Being equipped with a tag reader of RFID and a planar pressure sensor, the intelligent cabinet measures the positions of commodities. The human/commodity tracking system using a LRF measures the position of a human/commodity on a floor. Town Management System integrates the position information and provides robots with real-time information on commodities. The commodity tracking is successfully demonstrated in daily life environment.

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The purpose of this research is to acquire the information (position, posture, size) of multiple objects in intelligent space. We use image markers (AR-Tool kit) for recognition of position and posture without depending on the conditions of the object. And we capture those image markers with cameras set in environment. We also add information to those image markers. The contents are the position of the tag which has the details information of the object as well as shape of the object. The information is uploaded to the server, and the information is to be referred by other systems.

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The purpose of this research is to construct a system that can navigate arm robot adopting Kukanchi (Interactive Human-Space Design and Intelligence). This system gets ID and place of objects on work area form database that lumps information of objects in the intelligent space. The database is built up by sensors that implanted in several places. And then, this system generates disposition map of work area and operation for object manipulation. As a result, this map and operation make it possible to avoid obstacles when the arm grips the object. This paper reports the system configuration and specification that has been decided now.

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Adding artificial marks to objects makes it easier to recognize the environment in home robot tasks. It is preferable that marks are invisible for human. An invisible mark made of photochromic material is developed, which is usually colorless and transparent, and is only colored when illuminated by ultrasonic rays. This mark is added to the edge of the tableware for the task of clearing the table. This mark is attached to the ceiling for localization of a robot in the room. A sliding jig composed of pair of convex and concave blocks is developed for the task of inserting an electric plug to an outlet. Total home tasks including moving to a table, clearing the table, and inserting a plug are realized with assistance of these marks and jig.

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This paper discusses a simulation of a flying disk using human gestures asinputs. Gesture recognition is performed by steady-state genetic algorithm (SSGA) in a 3D distance image. SSGA detects a human hand as a octagonalshape in each image. A gesture is recognized as a time-series of human handmotions. We use three gesture patterns of throwing the flying disk. Thetrajectory of the disk thrown is calculated by MATLAB based on a physicalmodel. We discuss the effectiveness of the proposed method throughpreliminary experimental results.

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This paper proposes a cooperative visual object tracking by multi-robot system, where robust cognitive sharing is essential between the robots. However, one of the main issues in vision-based distributed observation is the significant differences in the background image for the interested object. According to the observing point of the robot, effective invariant feature to identify the interested object is different. In this paper, we propose an ambiguity index to select better feature algorithm for object tracking. Experimental result shows promising result for the effective multi-robot cognitive sharing.

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This paper reports the development of a novel force measurement unit to measure longitudinal forces for forceps manipulator using a Fiber Bragg Grating (FBG) strain sensor. The unit is composed of a strain-amplifying mechanism and a hydrostatic bearing. Our first prototype has linear relationship between the force exerted and the wavelength, within the range from -3 to 3N. Wavelength shifts in the FBG sensor were recorded for each trial using a sampling frequency of approximately 900 Hz. The sensor was firstly developed for a force feedback application on a master slave system.

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Intelligent neurosurgical instruments were developed to take a key role in improving the tumor removal rate by introducing cutting-edge surgical devices. The intelligent neurosurgical instruments consist of a surgical robot and a master device. The surgical robot consists of a surgical motion base and a surgical tool manipulator. A preliminary evaluation test of these devices was conducted. A phantom model was fixed on a head frame, and a tumor removal procedure was successfully performed by using the prototype of intelligent neurosurgical instruments. Therefore, in this test, the practical feasibility of the developed system was shown.

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Recently, minimally invasive surgery has been performed in abdominal surgery. We have developed a multi-DOF robotic forceps manipulator using a novel omni-directional bending mechanism, and proposed a bilateral control law which assures stability of the master-slave system in the presence of the time varying communication delay in the teleoperation systems, so far. However, the proposed bilateral control law was applicable only to the one DOF bending motion of the robotic forceps. In this paper, using the transformation of the coordinates, the proposed bilateral control law is extended so as to be applicable to the omnidirectional bending motion of the robotic forceps. In order to verify the effectiveness of the proposed control scheme, experimental works were carried out.

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Master-Slave System for TUR-P (MSST) for minimally invasive surgery has been developed in order to relieve the burden of surgery for the surgeon and prevent the infection. In TUR-P, surgeon is operated on based on the view from an endoscope and the reaction force from an electrosurgical knife. This system contains the force sensor and reproduces the same feeling as under an operation by force feedback control. In order to perform safe operations, this system needs a high sensitive sensor. In this paper, we developed the new force detection method using strain gauge, in order to sense the force that is produced by the contact of electrosurgical knife with organ.

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Master slave system for catheter guide has been developed in order to reduce the risk of X-ray exposure for surgeons during interventional radiology operation. Executing the intervention with this system, the detection of the reaction force obtained from the catheter is needed to perform the operation with high safety and operability hi this paper, we have developed the force detection mechanism for the slave robot. This mechanism can detect the reaction force with a high degree of accuracy using a method which measures the displacement corresponding to the force. The displacement is generated by the combination of slide screw and compression spring and is measured by the photointerrupter.

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To decrease the difficulty of SAS (Singe Port Access Surgery), this paper proposes an master-slave robotic surgical system for controlling surgical instruments in which a surgeon performs SAS as he or she performs normal endoscopic surgery. This system positions and controls robotic surgical instruments which respectively have the additional two DOF corresponding to bending direction and angle. Each robotic instrument has 6 DOF (two angles from trocar, insertion depth, rotation, bending direction, and bending angle). This system lets the robotic instruments to reflect the position and angle of the tip of instruments that the surgeon controls. To evaluate the validity of this system, we conduct experiments in which the surgeon watches the endoscopic image and controls input (master) instruments in order to control robotic (slave) instruments to target objects under the condition that the position of the endoscope is fixed. We conduct the experiments in two systems: one is virtual robot system, another is real robot system. This task simulates the control of instruments in endoscopic surgery. As a result, a surgeon can performs SAS tasks with the proposed system as perform them with the normal endoscopic style.

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Endoscopic surgery is much less invasive than laparotomy. However, these operations have some technical difficulties. One of them is difficulty in controlling forceps by endoscopic image. To solve this problem, we have developed the control system that corrects the difference between the target orientation and the real orientation using the image processing technique. In this paper, we calculated the tip point of forceps using stereo endoscope. There are some fluctuations because of halation. Especially, Z axis had a lot of fluctuation. After, we operated the pivot pointing forceps manipulator using stereo endoscope, the mean of distance error between target point and forceps are 12.3mm.

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In this study, a training device for an upper limb constructed with pneumatic muscles has been developed. This device has three and one degree of freedom at a shoulder and elbow, respectively In this paper, the effectiveness of this device is discussed from a cooperative movement using a proposed device.

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We have developed a soft and flexible power assist device named "smart suit". The assist force is basically gained by the elastic force of elastic materials, and it is controlled by adjusting the length of the elastic materials by using DC motor. In this study, we applied the smart suit to horse trainers for reducing their physical fatigue in horse training to prevent their injuries. Moreover we aim developing an assist force control method based on the energy control for considering not only the power assist but the skill assit. In this paper, we confirm the energy control has the effectiveness of the power assist and the skill assist.

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The effect of change in impedance parameters of an electromyography (EMG) based impedance controller for a 7DOF upper-limb power-assist exoskeleton robot, which assists daily upper-limb motions of elderly or physically weak individuals were analyzed. The experimental results show that the impedance parameters of the EMG-based impedance controller should be changed according to the upper-limb posture and the amount of the EMG signals.

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People of all ages have suffered impairment in traffic accidents or sport accidents, and these individuals worry about dysfunction of their upper limbs, but they can recover from dysfunction by rehabilitation. In this study, we developed an assistive robot for upper limb movement that has high rehabilitation effectiveness. To achieve this, we proposed an algorithm of a dynamic filter for decrease the noise and the delay of the device for the motion assist robot. This filter changes the cutoff frequency depending on amount of input change. The robot supports his movement only when he flexes his arm. The effectiveness of our method is shown through experiments.

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In our previous work, a wearable robot named telecommunicator was introduced to enhance human communication beyond long distance. The person on the local site can communicate with people on the remote site through the telecommunicator. The first prototype of the telecommunicator T1 has typical robot appearance with a 2-DOF hand and a 2-DOF head. It acts as an avatar of the operator and provides realistic sensation for the operator as if the operator was in the remote site. However, human communications require presence of the operator in the remote site. To overcome the problem, a miniature humanoid MH-1 has been developed. It has human like appearance with two 4-DOF arms and a 3-DOF head. Currently, to enhance the presence of the operator, MH-2 which has two 7-dof arms, a 3-dof head and a 3-dof body is under developing. In this paper, to achieve small 7-DOF arm, a 3-DOF parallel wire mechanism for a wrist is proposed. A prototype model shows its feasibility.

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This paper describes task estimation in upper-limb exoskeleton power assist robot with perception assist. In the perception assist by using exoskeleton robot, it is important to recognize objects which user has, because robot's assist depends on objects which user has. Although object recognition by using image processing has proposed, the method is susceptible to environmental factor like a luminance. Therefore, in this paper, the method in order to recognize an object which user has is proposed. The method use image processing in combination with task estimation by motion of user s arm. To estimate the motion of user's arm, the feature quantity which is calculated by hand vector is used. The effectiveness of the proposed method was evaluated by performing the experiments.

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Power assist devices have been introduced to reduce physical burden of workers in conveying and mounting work in industries. Most of them handle controlled objects as rigid bodies. This study discusses an effective vibration control method for conveying flexible structures with power assist. In our previous paper, a disturbance accommodating LQ optimal control (DAOC) method was applied to the vibration control problem and the effectiveness was verified by output feedback control experiments. This paper discusses the effectiveness of the DAOC method in the case that the frequency ranges of the power assist and the vibration control overlap considerably. The DAOC method is applied to the same cart with a 1-DOF vibration system as in the previous paper but having more flexible structure. Its natural frequency is set to 1.0 Hz. The effectiveness of DAOC in this case is demonstrated by simulations and experiments.

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We have developed a control system using our ultrasound diagnosis robot, which is able to support physician's manual handling of ultrasound probe. This system realizes passive coordinated motion according to the motion of the probe, which is hold by the robot and is moved by the physician, by introducing compliance control method. Then the robot compensates the probe motion servilely as the physician's desire by detecting the 3D forces and 3D torques. We have examined the system with a help of a clinical specialist and evaluated performance of the robot through various kinds of parameters. As the results, coordination motion of the robot was realized to assist advanced diagnosis for echography.

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In human-machine cooperative lifting system, it is necessary to estimate the operator's intention such as the 'lift up', 'move down', 'rotate' and so on. This paper addresses how to estimate the operator's intention based on the logistic regression model where the EMG signal is used for the regressor. In addition, the assisting force is calculated using the PCA. Finally, the proposed cooperative lifting system is realized which includes not only translational but also rotational movement in a two dimensional working space, and the usefulness is demonstrated.

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We propose the step-on interface (SOI) in which the instruction is given by stepping on the operation screen projected on a ground surface. We developed the HFAMRO (human-friendly amusing mobile robot)-2 in which two sets of SOI are equipped on the two-wheel drive mobile platform. This paper presents two methods based on the real-time range data and the environmental map respectively for the obstacle avoidance and coming back to the original pathway putting priority on the given instruction.

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For supporting human motions, we proposed a motion support system consisting of multiple brake units with wires, and designed a path following function which let human's hands follow to a path by displaying a force. However, the system sometimes cannot generate enough forces to let human's hands follow to the path, because the servo brakes cannot generate driving forces and the system does not have enough brake units to generate desired forces. In this paper, we consider a feasible braking force of the system with multiple brake units theoretically and discuss the numbers of brake units for generating the desired force. We also develop a system based on the proposed theory and conduct the path following experiments. The experimental results illustrate the validity of the proposed theory and system.

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In this paper, the grasping support device that reduces load of muscle in a grasping task of heavy objects is developed. The grasping support device is driven by pedal force through tubes. When pedal force raises pressure in tubes, the grasping support device generates compensation force according to Pascal's law. As the grasping support device doesn't interfere with human's fingers, grip and compensation force can grasp object independently. A pilot model of the grasping support device that is intended for cylindrical object is designed, and range of motion, compensation force, and load of muscle are evaluated. From the result, it is clarified that the grasping support device is effective for reducing load of muscle with grasping the heavy cylindrical objects.

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In this paper, we studied about a power assist control method to climb stairs with carry carts with planetary wheels, which have three pairs of a rotational arm and a free wheel on the end of the arm. In the proposed control, when drag force on handle become larger than threshold, the planetary wheels rotate by 120 degrees to climb a single step. The rotating speed varies proportional to the drag force and the proportional gain varies according to phases of contact between stairs and the wheels. Experiments are performed and the maximum drag force is reduced about to 50%. From comparison with two dimensional types of wheels, it is found that smaller wheels require more complex control to realize stable climbing on stairs.

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"Teleoperated robots" controlled by the human being who locates remotely can guarantee safety of human being. For this reason, the teleoperated robots have been used in a variety of critical situations. This work presents a novel interaction interface for teleoperated robots, which provides a surrounding display interface to enhance a user perception and exploits a human gesture to control the robot intuitively. In this paper, we present our architecture which components are needed and how to implement the interaction space to enhance the user perception. Actually, the result of this work will be employed for our future research works such as multi-teleoperated robot control system and virtual human-robot interaction system.

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This research aims the development of a vibratory stimulating device which can be used in the function-MRI environment, in order to induce illusory kinesthesia. Hence, the attention is focused on the Flat Ring Tube (FRT), which is an actuator that oscillates by fluid power. The developed vibratory device is then tested in an f-MRI measurement experiment. The proposed device showed great compatibility within the f-MRI environment, providing the necessary tendon vibratory stimulation, and as result, the brain activity response to the illusory kinesthesia is verified.

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This research describes a sheet shaped soft actuator that supports wrist's 2 DOF motion over the wide range. The system aimed at patients with one-sided paralysis by brain disease and orthopedic patients. A past actuator named WTA-band had the fault with a large resistance. Newly, the fluid actuator composed of a special tube and the cloth for the restraint is designed. It is based on the idea of decreasing resistance and expanding wrist's range of motion. ECSA was made by using the actuator. And Experiments showed that wearable actuator which is composed of 4 ECSA and a supporter has an ability to support wrist's 2 DOF motion. Finally, the effect was confirmed measuring the wrist's EMG.

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This paper proposes the wearable hand support system in order to realize daily life support. Current prosthetics have some issues of wearability. At first, we focus the weight of wearable system. The actuator is one of the heaviest parts in wearable system. We propose to use the lightweight and compact size McKibben pneumatic artificial muscle. Besides, we estimate the model of McKibben pneumatic artificial muscle in order to reduce a number of pressure sensors. Second, we investigate variable fingertip stiffness to realize human finger dexterity and simulate by using our proposed polyarticular tendon drive system in previous study.

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The use of the McKibben artificial muscle has opened the way to the introduction of "muscle suits"-compact, lightweight, reliable, wearable "assist-bots" enabling factory personnel to lift and carry weights greater than conventionally possible. Since low back pain is one of the most serious issues for the manual worker, we focus on developing sacroiliac support. In this paper, the concept, a new mechanical structure and effect of the sacroiliac support system is shown. From the experimental result to keep forward tilting posture with load indicates our system is very effective for keeping forward tilting posture and it becomes clear that more than 75% reduction of muscular power is realized.

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In this study, we attempted to develop a prototype of a wearable sensory prosthetic system with which patients suffering from peripheral sensory disturbance will be able to feel somatic sensations as if they were touching an object with their healthy and intact hand. The system consists of finger sacs and palm patch equipped with flexible pressure sensors, and micro-electrical stimulation of the sensory nerve fibers was used in order to evoke somatic sensations. The results showed that the system worked satisfactorily, and it is demonstrated that the system will be able to compensate or even enhance sensory function of the patients with sensory neuropathy.

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