Internal/external impedance control of a finger system is an interest research subject of robot systems. However, these studies on actual robotic finger system have not been reported although a few studies have been reported on a haptic interface applying a virtual object. This study shows the internal/external impedance control results of the actual robotic systems for grasping statically. When realizing the internal/external impedance control of the robotic finger system, coupling effects between the internal and external control algorithm using a conventional algorithm, which cannot hold an object under large external force. Therefore, the revised internal/external impedance control algorithm is proposed, which can hold the object under large external force.

View full abstract

This paper describes the manipulation by the finger mechanism with omnidirectional driving roller to realize the two active rotational axes on the surface of the grasped object. As the omnidirectional driving roller, we adopt the Omni-Crawler we developed. This cylinderical tracked unit can be used as the roller and the fingers with this roller can manipulate the grasped object in the arbitrary axes. Object Manipulation in any axes not only the rotation but also the translational motions are confirmed through the experiments with actual prototype model.

View full abstract

We propose a planning of grasp form for a robot hand with passivity. The purpose is to realize more stable grasping and changing forms. We design two indices: "displacement balance of joint-springs" and "finger-tip compliance." First grasp form candidates are calculated by grasping force and size of object. Then these indices extract the moderate grasp form from these candidates. The former index is to avoid both over-displacement and non-displacement. Because of these displacements, fingers can't absorb model errors. The latter one is to avoid fluctuations of grasping force. We also report grasping and drawing experiment to check the effects this method. The results show that this method realizes more stable grasping and drawing.

View full abstract

Among astronaut's various works, Extra Vehicular Activity (EVA), which is done outside ISS, is essential for maintaining ISS, but also requires largest risk, time and cost. In order to solve these problems by substituting or assisting astronaut's EVA by a robot, Tokyo Tech and JAXA have been conducting R&Ds of Astronaut Supporting Robot (Astrobot). Assuming an Astrobot performing EVAs, it is preferred that its robotic hand could manipulate Astronaut's tools, therefore it should be modularized for acquiring high dexterousness, grasping power, reliability and failure resistance at once. In order to make full use of its modularity, this paper presents a concept and requirement analysis of Detachable Wrist Interface Mechanism (DWIM) which provides detachable connection (structural and electrical) with Astrobot's robotic arm. First, function and characteristics requirements of DWIM are clarified, and then its detail requirements are derived by systematizing properties of former spaceborne manipulators.

View full abstract

This paper presents analysis of vibration of a low Earth orbiting satellite's solar array paddle induced by the thermal shock. It is known for years that the satellite attitude stability is disturbed when a satellite goes into the eclipse. Several ways of trials to measure the vibration of the solar array paddle were conducted in the past. However those trials were unsuccessful. We are trying to measure this vibration using the camera mounted on a Greenhouse gases Observing SATellite (GOSAT) launched by JAXA in 2009. Using images from this CMOS camera, we found that the very slow vibration is occurred in the solar array paddle when the satellite goes into the eclipse. Simulation analysis using the thermal / structural models of the solar array paddle show that the rapid change of the thermal environment when the satellite goes into the eclipse caused the vibration.

View full abstract

In "KOUNOTORI" (HTV) operation, it is mandatory to operate the "KOUNOTORI" mechanisms conceitedly with the robotics manipulator on International Space Station (ISS) in order to achieve the unpressurized cargo transfer to ISS. This paper presents the development results in "KOUNOTORI" (HTV) mechanisms system located on Unpressurized Logistics Carrier (ULC). The mission overviews of "KOUNOTORI" (HTV) ULC mechanism operation in HTV1 and HTV2 are also presented in this paper.

View full abstract

A method is proposed for solving a set of simultaneous equations with an ill conditioned coefficient matrix. Two approaches are presented to find an approximate solution. One is to regularize the coefficient matrix by adding a small positive value ε to its diagonal elements. This approach improves solution accuracy by removing the very small singular values and estimates rank of the coefficient matrix. The other is to use the singular value decomposition and introduces the projected norm as an indicator to determine how many singular values for finding an accurate solution. A numerical example is given to demonstrate the effectiveness of the proposed method for system identification. It is found that the proposed method identifies mass and stiffness matrices that can accurately predict the dynamic characteristics and the mass properties of structures.

View full abstract

In order to improve LEO launch capability, H-2B launch vehicle was developed from H-2A by means of enlargement of 1 st stage diameter. H-2B is the most powerful rocket in Japan, but her launch capability is smaller compared to foreign large launch vehicles such as Ariane 5 ECB which will have 12ton-class launch capability into GTO. In this paper, to enhance GTO launch capability of H-2B, we tried to optimize thrust level and propellant mass of 2nd stage and we also applied high performance second engine and additional SRBs, which resulted in enhancement of GTO capability to 11 ton-class from original capability of 8ton.

View full abstract

The four-point probe is a well known tool for performing reliable measurements of electronic conductivity on material surfaces. We have developed a mapping system of surface electrical conductivity using a micro-scale four-point probe. The micro probe can be safely approached to the surface using a simple z positioning mechanism consisting of combination of a z axis stage and a piezo-electric actuator. In the approaching motion, contact point can be detected by combinations of strain gage and CCD image of optical reflection of the probes, then the probe is slightly pushed from the point to the surface to achieve stable measurement. By scanning the probe, the mapping of the electrical resistance on surfaces could be performed.

View full abstract

This paper describes a system for fast and accurate distance measurement based on the phase accordance method. This method uses two carries of different frequencies and detects the time reference points as the phase matching instances of the carries. The method was originally developed for ultrasound measurement systems, however, we applied it to a light distance measurement system and achieved better accuracy comparing with popular laser distance meters.

View full abstract

A development of a DC servo motor driven phase shifting equipment for a phase shift shearing interferometer is reported. A shearing interferometer is often used for precise surface measurement, optical wave front measurement and so on. In a plane parallel plate type of shearing interferometer, a glass plate makes laterally sheared beam from the induced test beam. Then interferogram which reflects the phase distribution of the wave front of the induced beam is produced. Phase shifting technique is applied to analyze interference fringe. The phase shifting can be induced by tilting shear plate using DC servo motor driven rotational stage. This phase shifting mechanism is much cheaper than usual equipment using PZT actuators. A result of measurement for an aspherical lens is also reported.

View full abstract

This paper proposes a method to estimate all state variables of a space probe in a proximity to an asteroid with Wide Field Integration of optic flow. In authors' previous papers, it is assumed that a space probe has an altitude sensor. In this paper, the altitude is estimated from the velocity change between two states before and after thruster firing. For this altitude estimation process, the probe's attitude angle is required. Thus, this paper also addresses a method to evaluate the attitude angle accurately. To demonstrate the validity of the proposed method, a numerical simulation of a spacecraft with two control thrusters is shown.

View full abstract

This paper presents a development of a spacecraft simulator using an air bearing. The system equips with a three-axis magnetometer, a three-axis accelerometer, and three rate gyros to estimate the attitude of the satellite model. Three reaction wheels are orthogonally installed on the system and generate control torques along three body-fixed axes for the attitude control. The purpose of this study is to develop a spacecraft simulator to show the effectiveness of a three-dimensional attitude control law. The control torques generated by the reaction wheels are verified utilizing the conservation of angular momentum. Also, the sensor outputs filtered with Extend Kalman Filter (EKF) are compared with reference data to show the accuracy. Using two vector measurements of the magnetometer and accelerometer, we estimate the attitude of satellite simulator.

View full abstract

This paper describes the effect of the number of sensors for mode identification. Sensor locations are selected with a method using sign patterns of target modes. To evaluate selected sensor locations, a conventional method uses the ratio of the maximum singular value and the minimum one (SV ratio) of a modal matrix reduced to degrees of freedom of sensor locations because the ratio is one when target modes are orthogonal. In the conventional method, SV ratio decreases by increase in the number of sensors. This is why the conventional method does not consider relation between the number of target modes and that of sensors. In this paper, a new method to evaluate sensor locations is presented. Numerical results show that the proposed method accurately identifies target modes by increasing the number of sensors from the aspect of mode orthogonality.

View full abstract

This paper describes a method for estimating dynamic characteristics of a large space structure, such as a solar paddle. There is a problem in performing modal tests when the structure increases in size. In such a case, gravitational considerations may prevent a fully assembled ground modal test because the structure is not strong enough to withstand the force of gravity. Component modal test is one of methods to solve this problem. In component modal test, a tested component is selected, and the effect of untested component is considered as additional masses and stiffnesses. After the completion of a modal test, different tested components are subjected to modal tests. We consider identical frequencies obtained by component modal tests as frequencies of the structure. When using two additional masses and stiffnesses, this paper clarifies the effect of the order to select mass (stiffness) additive locations on predicting the dynamic characteristics of the structure.

View full abstract

A method of component modal testing for predicting the dynamic characteristics of large structures was developed. It is sometimes difficult to perform a modal test of large space structures because they are not strong enough to withstand the force of gravity. This approach can avoid the strength problem. Additional masses and stiffnesses attached to a tested component are used to consider the effect of untested components. This paper deals with strength capability of the tested component with additional masses. A numerical example shows that component modal testing is applicable to large structures because the tested component has a large margin of safety.

View full abstract

We develop optically controllable electrophoresis with a photoconductive substrate. We demonstrate simultaneous manipulation of microparticles without any flow channels.

View full abstract

We present characteristic evaluation of cell processing using an electron beam, in order to realize fine fabrication in nanometric region. Irradiation area were observed with phase-contrast microscope and atomic force microscope.

View full abstract

We report on the mechanism for creating new industries by photonics. Pi Photonics, Inc. is the venture company from Hamamatsu. We provide you TiP' which means Products integrated Photonics. We introduce a main product named 'HOLORER-it!' which is the high directional LED lighting.

View full abstract

Based on 3D measurements using a white light scanner, our surgical navigator for endoscopic surgery: 1) features automatic registration; 2) indicates the position of surgical instruments or of the center in the endoscopic view; and 3) updates registration and tracking information when patients move without any references such as headgear with markers on the patient.

View full abstract

We have developed an intelligent CMOS sensor named Profile Sensor with sampling rate at 3200Hz of X and Y projection images. The Profile Sensor is a unique CMOS area image sensor aimed at high-speed position sensing by detecting projection images of X and Y-axes. We have constructed a stereo sensing module by using two pieces of Profile Sensor and confirmed the characteristics of the Profile Sensor for high-speed three-dimensional position detection of multi spots by using LEDs or reflectors as a target patterns. We have demonstrated the sensor has high speed and high accurate position measurement capability and the intelligent sensing technique can be useful for industrial and amusement applications.

View full abstract

Main Products of our company are Color Graphics/Signmaking Devices, Vinyl Sign Cutters ,Engraving/Routing Systems, Prototyping/Modeling Machines, 3D Scanners and Metal Printers. We have unique manufacturing system, called "Digital YATAI (D-shop)"

View full abstract

Laser application is expected to expand nowadays. Our company Laserx has operated as laser job shop for research and development, processing test, trial and mass production since 1984. A laser processing system is composed of not only main devices such as a laser source and a work stage, but also accessory devices such as laser processing heads including lens and mirrors. Laserx is responding to demands of those accessory device development and customization, with the technology based on know-how and needs which are accumulated from experiences as laser job shop with end-user. This paper introduces the example of accessory device development for laser processing system.

View full abstract

A microneedle array which consists from small needles compared to a conventional metal injection needle is expected as a low invasive transdermal medical treatment device, and many fabrication approach have been conducted. In this study, we fabricated polymer hollow microneedles of one row by a fabrication method based on the combination of injection molding and microbonding techniques. Subsequently, the tilted needle array was fabricated by arranging these microneedles of one row aslant into the holder. We punctured the tilted needle array to silicone rubber by using the slideguide (surface plate). As a result, the high performance of the tilted puncture system was confirmed.

View full abstract

Fuel consumption improvement is a big theme of passenger vehicles. A K-car "ALTO ECO" with the best fuel economy among gasoline engine powered vehicles in Japan, 30.2km/L in the JC08 driving cycle, has launched into the Japanese market in December 2011. The engine for ALTO ECO has intensively been improved on its mechanical friction from the base engine called R06A. The R06A engine had originally been developed as a low fuel consumption engine for Japanese K-cars which had launched in January 2011. This paper introduces additional technologies for ALTO ECO mainly focusing on reduction of mechanical friction.

View full abstract

As a leading supplier of motorcycle and automotive clutches, FCC group operates integrated production systems that cover R&D of friction materials and every process of manufacturing clutches. Our business has successfully expanded along with the growth of the automotive industry. FCC has been sophisticated its technology putting the highest priority on friction material. Especially in paper based material, FCC produces it from paper making stage and cleared all the required feature standard, since friction material is the key technology to decide feature of clutch itself. Right now our manufacturing facilities are located worldwide, 13 plants in 9 foreign countries in addition to plants in Japan.

View full abstract

A digging robot named "DigBot" has been developed by our laboratory for monitoring the underground environment and exploring the lunar surface. The purpose of this research is to develop the robot which can dig soil and sand automatically. In this proceeding, first, concept of DigBot is shown. As a basic research of developing Digbot, Contra-rotating drill is developed and made for trial purpose. And then digging experiment is carried out for verifying effectiveness through the Contra-rotating drill. It was proved that DigBot possess incomparably more power than ever before.

View full abstract

Deep vein thrombosis (DVT) is a disease suffer a blood clot in the vein of lower limb deep place mainly. In order to prevent DVT, we have been developing a prototype of the lower limbs movement assistant robot which forcibly moves a foot so as to improve blood circulation. We found that this robot is effective in preventing deep vein thrombosis. However, our prototype is still large, and also very heavy (10 [kg] weight), thus there is a problem in production. We have developed a improved one. In this paper, we describe a rehabilitation robot of version 2 with a new user interface that can be operated in a compact, lightweight and low cost.

View full abstract

This paper proposes a circulatory condition-monitoring system with an air-pack sensor for ongoing measurement of pressure signals in supine patients with cervical spinal cord injuries. The system can be used to determine pulse pressure waves, pulse beats, respiratory waves and the augmentation index (AI). In this study, the physiological significance of signals obtained via the sensor was elucidated by comparing them with signals actually measured using commercial devices. The results showed a close correspondence between the signals obtained using the proposed system and the pulse pressure waves, breathing waveforms and RR-intervals. The AI values estimated using the air-pack sensor also displayed a high level correlation with those determined from radial artery pressure waveforms. To verify the performance of the proposed system, a patient with an injury was tested while asleep. The results confirmed that the system can be used to assess circulatory states of arteriosclerosis using the estimated AI values.

View full abstract

In this research, we have developed a tube type pneumatic soft actuator for assisting colonoscope insertion. In this paper, we focused on the shape of the actuator's fin for improving the propelling ability. The height of the fin changed 0.5mm into 1.0mm and 1.5mm. In addition, the angle of the fin was also changed into 30° for adding friction anisotropy between forward direction and backward direction. In these results, 2.2 times higher self propelling velocity was realized compared to the previous actuator. Moreover an endoscope for evaluation having steering mechanism driven pneumatically has been fabricated and developed actuator has been embedded. From phantom experiments, we confirmed that the endoscope can reach the ascending colon.

View full abstract

For healthy chewing, normal occlusion without local overload is necessary. However, the current occlusal examination depends on techniques, skills, and sense of doctors. Therefore it is an important issue to establish an equipment that can check occlusal condition easily, accurately and objectively. This research aims to realize novel checking system listening to occlusal sound using microphone. In this research, establishment of methodology realizing connection between a device having a microphone and teeth is breakthrough. In order to attach the device on teeth, we have developed a soft suction cup applied negative pressure. We have conducted experiments of detecting occlusal sound using this device in the oral cavity.

View full abstract

In radiography, the abdomen of a patient is pressured to take photographs of the stomach clearly. By changing the form of the stomach, barium in the stomach shifts and spreads, so the clear image of the fold can be depicted. In a prone pose, pressuring abdomen is curried by towel put between a patient and the table. However, realization of the effective compression is difficulty, and taken time. In this study, we have developed the pressure bag using the soft mechanism. The pressure bag which is put between a table and a patient can pressure abdomen by air pressure. Pressure bag has high elastic and X-ray permeability, so it is suitable for compression of body under radiography. In pressure experiment for volunteers under radiography, the surface clear image of the stomach which was unobservable by conventional technique could be acquired efficiently.

View full abstract

A wheelchair with a lifting function is designed to assist a caregiver when transferring a wheelchair user not only indoors but also outdoors. The target user is typically a severely disabled person with disabled upper and lower limbs, and therefore needs the physical support when using a toilet or transferring from a bed to a wheelchair and so forth. Both the wheelchair and the lift are driven by their respective motors. The user can approach above the toilet stool or the bed from the rear because the large driving wheels are located in front of the body and the seat can be folded. This wheelchair is allowed to travel on public roads because of the mechanism of folding the frame for lifting. This paper presents the concept design and the experimental results of a full-sized prototype wheelchair with the lifting function, which confirms the design effectiveness.

View full abstract

This paper presents walking orthotic equipment that enables a person with mildly disabled limbs to use an ordinary toilet. The critical problem occurs as the narrow width of the toilet booth when a wheelchair user would like to use the ordinary toilet. On the other hand, if the wheelchair user can walk, this problem will be solved. In this case, the user has to realize the following motions: standing up from a wheelchair, walking to the toilet booth, and sitting down on the toilet seat. The equipment includes two modules: lower extremity orthosis with gas-springs and a pair of telescopic crutches. The gas-spring can be locked or free by pushing the "Lock button" to help the user when he is standing up, walking and sitting down. The telescopic Lofstrand crutch assists the user when he is standing up and sitting down in short length state, and assists the user in a standing position when changed into long length state.

View full abstract

This paper presents a monitoring system for detecting accidentally falling down in a nursing home using passive RFID tags. This system is installed in a lavatory, where the falling accidents happen the most frequently. The tag reader is set near a ceiling and the RFID tags are on the ground. The principle of this system is based on a phenomenon that electric waves are attenuated by water. The state of a person: standing or falling is judged from the number of the RFID tags that are not responded. This system is superior to the video camera as to privacy. Experimental results confirm the effectiveness of this system.

View full abstract

This paper proposes a tilting system that prevents pressure ulcers of a wheelchair user. This system comprises a sensor unit for detecting the buttocks pressure and a tilt mechanism for distributing the pressure. The sensor unit has eight thin and flexible tactile sensors, FlexiForce. The sensor unit sounds a buzzer to call attention to the user judging from the pressure value and the period, and that urges him/her to tilt the wheelchair. The tilting system ensures the safety against falling down because the user reclines without the wheelchair tilting. The user can reduce the buttocks pressure by himself. This system can be installed on a conventional wheelchair. Experimental results confirm the effectiveness of this system.

View full abstract

This study, aims the development of the walking assist device to prevent stumbling or falling of the elderly people. The device must be lightweight for they use it on a daily basis. In addition, it must not disturb the action of them. Therefor, We have developed it without using external frame, that is composed of only flexible materials such as cloth and rubber. In this paper, we describe the structure and basic characteristic of this device. Then, we control the device by pressure feedback control as a reference pressure to angle of normal gait.

View full abstract

Our country is facing an aging society with fewer children. Percentage of the total population over the age of 65 in 2007 is greater than 21[%], Japan has become a super-aged society. It is expected the rate of aging is going to rise in the future. In this study, we propose the development of a walking assist device that is intended to assist in muscular strength of elderly people to walk safely in daily life. In this paper, we described the structure of the walking assist device, and verify the effectiveness of the device from the results of the EMG during walking attached the device. In addition, we also introduce a system which wearer can adjust the timing of the assist speed depending on walking speed, and explain their effect.

View full abstract

This paper discusses the deformation of yellow spot of retina by applying a compulsory eye pressure increase through a probe with force gauge. By using the caribration data between the eye pressure and the force gauge, we impart the force corresponding to 50 [mmHg] of IOP to eyelid. Through OCT data before and after compulsory eye pressure increase, we analize the deformation of yellow spot for three different layers. An interesting observation is that yellow spot suffered by glaucoma has thiner layer and smaller deformation than that of normal subjects, especially the characteristic is enhanced in both the surface and bottom layers, while it is not in the middle layer.

View full abstract

In this paper, we propose two types of magnetic microactuators for a cytology brush built into a capsule endoscope. One is a moving-magnet linear actuator, in which rotational oscillation of a permanent magnet is converted into linear movement through friction. The other is a rotating-magnet actuator with a flexible joint. Both actuators feature wireless remote drive by external magnetic field. As a result of the operation test using raw meat, the brush was successfully driven. In addition, we have applied a new function of angular positioning to the capsule by rotating magnetic field.

View full abstract

This paper proposes a novel non-invasive palpable sensor to measure carotid pulse pressure. The unit consists of a pair of coil printed circuit boards, a pair of springs, and a sensing plastic chip. The distance between the boards is monitored from the displacement of the springs, and the information is converted into a voltage signal based on electromagnetic induction. In this study, carotid pulse pressures of seven healthy males were measured using the proposed sensor and a commercial pulse pressure transducer. The results showed that the correlation coefficient between the two waveforms was 0.90 or more and the carotid pulse pressure was palpable throughout with the proposed sensor. Thus we conclude that the proposed sensor enables non-invasive measurement of carotid pulse waves.

View full abstract

In order to recover functional disorder, suitable rehabilitation and trained excellent physical therapists is required. Therefore, we developed the knee robot for understanding neuromuscular control system. The robot imitates patient's motions and human body model. The robot extends its lower thigh immediately after tapping its ligament below the patella with a small rubber hammer. The robot has a pneumatic artificial muscle for pulling up the lower thigh. It was selected by reference to the knee-jerk data of some healthy people which was measured in previous work. In this paper, we compared the angular velocity and the angle alternation of the knee robot with human data.

View full abstract

We propose a bed-type non-invasive ultrasound theragnostic system that tracks movements of an affected area (kidney stone / tumor, in this study) by irradiating it with high-intensity focused ultrasound (HIFU). In this paper, the concept behind a medical support system that integrates therapy and diagnostics (theragnostics), is illustrated. The required functions for the proposed system are discussed and an overview of the constructed system configuration is illustrated. Problems of extracting, tracking, monitoring the affected area by ultrasonography are described. To overcome with this problem, we propose a bed-type servoing system for body targets, which make it easy to set a proper ROI and acquire proper template model to track and follow the targets.

View full abstract

In this paper we propose a new type of power assist cart for Home Oxygen Therapy patients. To achieve the purpose, we adopted the inverted pendulum control technology to operate the cart, and also adopted the differential gear for actuation unit to enable passive turning control. And then we investigated the cart's effectiveness and proved its availability.

View full abstract

Myoelectric arms are useful for amputees. Those myoelectric arms estimate a user's intention based on electromyography (EEG) signals. However, in the case of an above elbow amputee, EMG signals of muscles that are used during a forearm and wrist motions cannot be measured. Therefore, compared with a human upper-limb, these myoelectric arms have less degree of freedom and its dexterity is relatively poor. In order to improve the quality of life of above elbow amputees and to increase their mobility in daily life activities, a 5-DOF electric artificial arm has been proposed in this study. In this paper, specifically, a forearm supination/pronation motion of the artificial arm is controlled based on electroencephalogram (EEG) signals. The effectiveness of the control method has been evaluated by performing experiments.

View full abstract

This paper is a pilot program report of sustainable and feasible advanced community model with the welfare support system for the aging society. We propose a system design methodology that estimates an individual's living conditions by measuring the vibrations based on careful study of the social situation, and transmit the information about the well-being of elderly people. We also propose a local community social model methodology which introduced the simple sensor system. Moreover, we verify practical effectiveness and feasibility of the sensor system and the social model by this pilot program. Finally, the results also indicate that this program is an effective social system for the improvement of welfare support system.

View full abstract

In this research, we propose a novel intelligent wheelchair based on the passive robotics. In our previous report, we realize assistance algorithm, which controls the servo brake cooperation with the user's operation. For realizing the driving assistance function, our system requires the reference trajectory. Therefore, in this paper, we propose the direction estimation scheme its user wants. For realizing the estimation, we use the minimum jerk trajectory model, which expresses the typical human movement. We test our proposed assistance system by the experiment with our prototype and verify its effectiveness.

View full abstract

In our current research, we are developing the force assistance system for standing motion which uses a part of a remaining strength of a patient in order not to reduce his muscular strength. For realizing our assistance system, this paper proposes a load estimation scheme of a patient who uses our assistance system. Our developed system measures a body motion and the applied force of a patient during standing assistance, and our system estimates the load of trunk, knee and ankle joint using a linkage model which approximates the human body. The performance of our system is verified by experiments using our prototype.

View full abstract

Some support devices are currently being developed. But there is problem that it is difficult to reflect the intuitive intention. There is a method as a way to resolve this issue, using the surface line electric potential that is a living body signal. This study aims at the development of the technique that reflects the intuitive intention of the wearing person by using surface EMG for the movement support device of the elbow joint. We use Neural Networks and the surface EMG to determine the behavior of the elbow. Then, We control the power assist device considering the magnitude of the surface EMG

View full abstract

A Laparoscopic surgery has some advantages such as minimum invasion and earlier recovery of patients. On the other hand, the laparoscopic surgery requires more skill of surgeons compared with the open abdominal surgery. Therefore, to train the skill of laparoscopic surgery, many simulators of the laparoscopic surgery have been developed. In those simulators, to perform effective training, the proper evaluation is necessary. To evaluate the skill of laparoscopic surgery, at first, it is necessary to discuss the difference between an experienced surgeon and a beginner in forceps manipulation. In this paper, to clarify the difference between an experienced surgeon and a beginner, experiments with a sensor forceps are carried out. In the experiments, the motion of suturation has been performed. The experimental results show that the orientation of the forceps, shaft forces and so on are different between an experienced surgeon and a beginner.

View full abstract