Organs have many vulnerable tissues such as blood vessels and nerves which must never be damaged. This paper shows a control method which prevents the overload of vulnerable tissues. Firstly, the force control method, which prevents overload, is shown. Secondly, a FEM-based stress obsever using the organ model is described. Finally, a control method incorporating the first and second steps, and which prevents overload at vulnerable tissue, is shown. Based on the experimental result of positional and stress data; it is shown that the stress at vulnerable tissues didn't widely exceed limit stress, in the event that a target position potentially resulting in damage to vulnerable tissue was ordered.
|ホスト出版物のタイトル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 2007|
|イベント||2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome|
継続期間: 2007 4月 10 → 2007 4月 14
|Other||2007 IEEE International Conference on Robotics and Automation, ICRA'07|
|Period||07/4/10 → 07/4/14|
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