Development of force displaying device using pneumatic parallel manipulator and application to palpation motion

The goal of this study is to develop a mechanical system which display elastic characteristic like stiffness on the surface of human body aiming at applying to palpation simulator. Pneumatic parallel manipulator is employed as a driving mechanism, consequently, it brings capability of minute force d...

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Bibliographic Details
Published in2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Vol. 3; pp. 4098 - 4103 vol.3
Main Authors Takaiwa, M., Noritsugu, T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.01.2003
Subjects
Biological system modeling
Control systems
Displays
Force control
Force sensors
Humans
Manipulators
Mechanical factors
Mechanical systems
Sensor phenomena and characterization
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Summary:The goal of this study is to develop a mechanical system which display elastic characteristic like stiffness on the surface of human body aiming at applying to palpation simulator. Pneumatic parallel manipulator is employed as a driving mechanism, consequently, it brings capability of minute force displaying property owing to the air compressibility. Compliance control system without using force/moment sensor is constructed by introducing a disturbance observer and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.
ISBN:0780377362
9780780377363
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2003.1242227