Haptics for medical applications
Haptics for medical applications
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DOI：
10.1007/s10015-008-0624-3
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发表时间：
2009-03
影响因子：
0.9
通讯作者：
K. Ohnishi;T. Shimono;K. Natori
中科院分区：
文献类型：
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作者：
K. Ohnishi;T. Shimono;K. Natori
未来的机器人和智能机器应该能够自主适应开放的环境，从而实现对人类活动的物理支持。此外，他们的身体支持必须以个体的“行动”和“感觉”为基础，这样身体支持才能真正人性化。然后，机器人必须根据个体的动作主动识别未知环境。他们还必须将获得的环境信息与他们的感觉相协调地传递给个体。由于触觉信息与视觉信息和听觉信息一样重要，因此现实世界触觉的发展是实现这一目标的重要关键问题之一。触觉信息本质上是双向的，因为一个动作总是伴随着一个反应。这意味着需要高透明度的双边控制来人工传递真实的触觉信息。基于加速度的双边控制器是实现高透明度的解决方案之一。将触觉技术应用于人类实际活动的物理支持，仍有许多问题需要解决。高透明度的触觉系统必须具有一定的灵活性，以扩展其功能。本文介绍了柔性驱动技术，具有高的力传递性和灵活性的执行机构的安排。此外，为了支持人类在远程环境中的活动，还描述了网络上的双边遥触感。最后，本文介绍了触觉的基本技术，包括医疗应用的几个例子，因为它们是现实世界触觉的第一个目标。
Robots and intelligent machines in the future should adapt themselves autonomously to the open environment in order to realize physical support for human activities. In addition, the physical support by them must be based on the individual’s “action” and “sensation” in order that the physical support becomes really human-friendly. Then, the robots must actively recognize the unknown environment according to the individual’s action. They also have to transmit the environmental information obtained to the individual in harmony with their sensations. Since haptic information is so important, as well as visual information and auditory information, the development of realworld haptics is one of the important key issues for the purpose. Haptic information is inherently bilateral, since an action is always accompanied by a reaction. That means that bilateral control with high transparency is necessary to transmit real-world haptic information artificially. A acceleration-based bilateral controller is one of the solutions for realizing high transparency. There remain many issues to solve for the application of haptics to the physical support of actual human activities. A haptic system with high transparency should obtain flexibility in order to extend its function. This article presents flexible actuation techniques that have high force transferability and flexibility in actuators’ arrangements. Furthermore, in order to support human activities in remote environments, bilateral telehaptics over a network is also described. Finally, this article introduces the fundamental techniques in haptics, including several examples of medical applications, since they are the first target of real-world haptics.