Advanced Robotics

Tsujita, Teppei; Kameyama, Takuya; Konno, Atsushi; Abiko, Satoko; Jiang, Xin; Uchiyama, Masaru

doi: 10.1080/01691864.2022.2143241pmid: N/A

Most haptic devices used in surgical simulators cannot display the force of multiple types of surgical instruments. To achieve this, an encountered-type haptic interface using magnetorheological (MR) fluid has been developed. This study aims to propose a scheme for displaying cutting force and elastic restoring force of soft biological tissue by the encountered-type haptic interface. The cutting force and elastic restoring force of soft biological tissue by a knife consist of two-directional forces: in the cutting direction and perpendicular to the cutting direction. Previous research has mainly focused on the cutting direction. Therefore, a scheme for displaying the two-directional forces is discussed in this paper. The proposed scheme controls the force perpendicular to the cutting direction by using servomotors that move a container of MR fluid. While displaying the force history when cutting a porcine liver, the error of the reference force in the direction perpendicular to the cutting direction was reduced without affecting the force in the cutting direction.

Fukuda, Kento; Kawai, Shin; Nobuhara, Hajime

doi: 10.1080/01691864.2022.2137430pmid: N/A

In this study, we design connected multiple drones through electromagnets, and it requires an attitude estimation method that does not use magnetic sensors. In order to solve this problem, we propose an extended Kalman filter-based attitude estimation method based on the multiple global positioning system (GPS) to substitute the magnetic sensor. Additionally, we demonstrate that combining velocity vectors allows for highly accurate attitude estimation. We compare the estimation accuracy and stability of attitude estimation in simulation and real environments using two types of experiments. It is confirmed that the accuracy of yaw angle estimation of the proposed method is improved 36.1% in simulation and 29.7% in the real environments compared to conventional extended Kalman filter.

Yokomura, Ryota; Warisawa, Shin'ichi; Fukui, Rui

doi: 10.1080/01691864.2022.2132832pmid: N/A

Our research group has been developing an automated modularized rail structure construction system. Our system provides robot's locomotion and operational infrastructure in hazardous environments where manned work is difficult. In previous studies, various modules and robots have been developed, and stable transfer of modules between robots in multiple postures has been achieved. However, 3-D construction is not yet realized. In this study, the relationship between the contact force and posture of the constructor robot's (C-robot) end-effector is estimated through force balance calculation and deformation analysis is performed based on the finite element method. The results of construction experiment showed that pushing motion and improvement of the stiffness of the C-robot's grasping part increase the success rate of module construction in the vertically downward direction, which is the most difficult condition. Finally, this study proved that 3-D construction of a modularized rail structure is feasible in various posture condition.

Mikami, Hayato; Sakata, Mami; Shima, Keisuke; Nagara, Tomoyuki; Yamashita, Makiko; Shimatani, Koji

doi: 10.1080/01691864.2022.2132833pmid: N/A

This paper developed a simple and quantitative evaluation system for a single-leg standing test. The proposed method represents the stand-up motion as a state transition model by quantitative measurement using a camera with a depth sensor (Azure Kinect) and a force plate. It objectively evaluates the movement of each state. In the experiment using the prototype, the evaluation results by the system and the skilled athletic trainer were the same for all subjects, and the shape of the radar chart was different among the subjects whose evaluation scores were the same. The results show that the proposed system can be quantitative evaluation even at worksites without skilled evaluators.