7 accepted papers
We develop a novel hall-effect-based six-axis force/torque (F/T) tactile sensor integrated into the fingertip of robotic hands. When the robotic hands performs the grasping tasks in an unstructured environment, the visual information plays a main role in sensing the external properties of the object…
We design a central controller system (CCS) and a tele-controlled system (TCS) with an aim of developing the integrated tele-monitoring/operation system that can enable the medical staff to tele-monitor the state of therapeutic devices utilized in the isolation intensive care unit (ICU) and to tele-
We develop a surgical forceps-driver and a haptic feedback master device that could be applied to a tele-operated microsurgical robotic system for peripheral nerve surgery. Considering that the neurological damage could occur to the peripheral nerve when an excessive force is applied to the nerve ti
We develop a miniature suction-gripper with the goal to realize the novel robotic surgical instrument that can grip slippery and flexible peripheral nerves. In developing the instrument, we place a priority on devising the method that can robustly grip the nerve bundles during the surgical operation…
We develop a novel cube-shaped finger-wearable haptic interface named as HaptiCube. With the aim of implementing the tactile device with improved functionality and wearability, we focus on designing the device to have two characteristics: multi-DOF force feedback displayability and large force capab…
When a robotic manipulator is controlled, computing gravity force of the robot is the primary issue. Exact model parameters are not easy to be known in the practical robot system due to the uncertainty of the robot dynamics. Hence, the gravity force is presented by a combination of gravity regressor…
In this paper, a novel sEMG decoder was proposed for estimating the detailed human intentions. For the use in practical applications, an sEMG decoder needs to have a high decoding performance, a robustness to the changes of electrode positions, and a capability to extract detailed and continuous int…