Journal of the Society of Biomechanisms
Print ISSN : 0285-0885
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  • [title in Japanese]
    [in Japanese], [in Japanese], [in Japanese]
    Article type: Article
    1991 Volume 15 Issue 1 Pages 42-48
    Published: February 01, 1991
    Released on J-STAGE: October 31, 2016
    DOIhttps://doi.org/10.3951/sobim.15.42
    JOURNAL FREE ACCESS
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    We have developed a bilateral controlled micro-manipulator system for medical application. By operating this system, an operator can perceive the stiffness of small part of tissue by his/her tactile sense, and the visco-elastic parameters of the tissue are identified from the measurements of the displacement and the reaction force of the slave. Firstly, the relation between the tactile sense and the identified visco-elastic parameters is experimentally obtained. And then, using this relation, a method which evaluates the stiffness of the tissue by means of the fuzzy reasoning is proposed.
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