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Pubmed for Handhelds

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  • Title: [Development of real-world haptic technology].
    Author: Ohnishi K, Shimono T, Natori K.
    Journal: Gan To Kagaku Ryoho; 2012 Jul; 39(7):1035-8. PubMed ID: 22790037.
    Abstract:
    This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control(ABC method)are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.
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