Dynamic force control for a miniaturised medical robot system

Author(s):  
D. Schauer ◽  
A. Hein ◽  
T.C. Lueth
2006 ◽  
Vol 100 (7) ◽  
pp. 074315 ◽  
Author(s):  
Osamu Takeuchi ◽  
Takaaki Miyakoshi ◽  
Atsushi Taninaka ◽  
Katsunori Tanaka ◽  
Daichi Cho ◽  
...  

2011 ◽  
Vol 23 (6) ◽  
pp. 939-950 ◽  
Author(s):  
Rintaro Haraguchi ◽  
◽  
Yukiyasu Domae ◽  
Koji Shiratsuchi ◽  
Yasuo Kitaaki ◽  
...  

To realize automatic robot-based electrical and electronic product assembly, we developed the handling of cables with connectors - flexible goods which are an obstacle to automation. The element technologies we developed include 3D vision sensing for cable extraction, force control for connector insertion, error recovery for improving system stability, and task-level programming for quick system start-up. We assembled FA control equipment to verify the feasibility of our developments.


1990 ◽  
Vol 33 (4) ◽  
pp. 660-675 ◽  
Author(s):  
Steven M. Barlow ◽  
Mary K. Burton

The relation among several parameters of the ramp-and-hold force contraction and target force level was quantified for the upper and lower lip in 40 normal adults and in 4 young adults who had sustained traumatic brain injury (TBI). Using visual feedback, subjects produced ramp-and-hold compression lip forces as rapidly and accurately as possible to end-point target levels ranging from 0.25 to 2.00 newtons. In normal adults, significant positive linear relations were found between the parameters of the ramp-and-hold lip force task and target force level, including the peak rate of force change, peak force, and the mean and standard deviation of force during the hold phase. Though males and females have been shown to differ greatly on absolute maximum force-generating capabilities, they are virtually identical on the measures used to quantify the lip force ramp-and-hold task over the range of compression forces studied. Preliminary investigation of lip force control in 4 TBI subjects suggests that these quantitative measures are useful in determining the distribution and nature of motor impairment between the upper and lower lips during a dynamic force control task.


Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 8144
Author(s):  
Xuesong Ma ◽  
Bo Pan ◽  
Tao Song ◽  
Yanwen Sun ◽  
Yili Fu

Non-invasive positive pressure ventilation has attracted increasing attention for air management in general anesthesia. This work proposes a novel robot equipped with two snake arms and a mask-fastening mechanism to facilitate trachea airway management for anesthesia as well as deep sedation and to improve surgical outcomes. The two snake arms with supporting terminals have been designed to lift a patient’s jaw with design optimization, and the mask-fastening mechanism has been utilized to fasten the mask onto a patient’s face. The control unit has been developed to implement lifting and fastening force control with safety and robustness. Loading experiments on the snake arm and tension experiments on the mask-fastening mechanism have been performed to investigate and validate the performances of the proposed anesthesia airway management robot. Experiments on a mock person have also been employed to further verify the effectiveness and reliability of the developed robot system. As an early study of an anesthesia airway management robot, it was verified as a valid attempt to perform mask non-invasive positive pressure ventilation technology by taking advantage of a robotic system.


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