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Determine the robot assistive forces based on human intent estimation in bone cutting applications
Shang-Wei Hsu,Ping-Lang Yen 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Robots can provide real-time bone cutting assistance on various operational conditions. A human intent estimation together with a bilateral force control has been designed to assist the surgeon in total knee replacement. Different admittance gains are online adjusted based on estimated human intent, followed by the robot to exert appropriate forces to the cutter, either pushing or pulling forces so that the bone cutting can be carried out in easier, safer and more precise way. Experiments show that the proposed control structure is promising to meet the clinical needs for real-time bone cutting assistance.
Assistive Control of a Surgical Robot Based on Bilateral Interacted Force Analysis
Ping-Lang Yen,Shang-Wei Hsu,Hang-Ting Lin,Ching-Heng Wang 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
Interacted force between a robot, human and anatomical object in orthopedic surgery provides crucial information for safe and accurate bone cutting. When the robot plays the role of assisting the surgeon in the whole surgical procedure, the robot is trying to comply with the human intention according to various cutting conditions. The reaction force to the robot from the human is for indicating human intention, whereas the force from the anatomical object reflects the cutting condition. In this paper two impedance indices are defined by these two interacted forces and a surgical robot then decides whether assistive or resistant action is activated so that accuracy and safety of bone cutting can be achieved.