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Scaling Problem for Micro Operation

微操作的缩放问题

基本信息

批准号：
13450102
负责人：
SANO Akihito
金额：
$ 3.65万
依托单位：
Nagoya Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2002
项目状态：
已结题

项目摘要

Master-slave equipment presents a force in master side by scaling up or down the force observed in slave side. For the efficiency improvement of micro operations, etc., it is desirable that the displayed force is adjusted to the human ability to perceive. In this study, we dealt with the scaling method considering the differential limen of the force, which is one of the inner force sense characteristics. By noticing the differential limen, the conditions for making it possible to perceive not only an existence but also a change of force are obtained. Under the condition that the differential limen is in proportion to standard stimulus, the condition for the perception of a change of force in master side was showed. Simultaneously, lower limit of the scaling modulus for the perception was obtained. We applied the conditions to the measured results and discussed the modification of the scaling coefficient when the dispersion exists in the measured values.In micro-teleoperation, such as m … More icro tele-surgery, the human operator must be able to identify the micro-environment and execute well the micro-teleoperation. A scaling problem is one of the most important problems. In general, an objective of scaling problem is to magnify the scale of micro environment with minimal loss of physical information. However, in this study, a human-centered sealing was suggested. The design of the variable controller by which the operator is able to choose on-line the appropriate scaling parameters could be realized in the framework of the H_∞ gain scheduling. The human operator could choose the optimum scaling parameters in consideration of his ability of perception and motor control. The task in which haptic sense becomes a key factor was produced in order to demonstrate the significance of direct force-reflection from the micro environment. The human characteristics of perception and hand impedance within the range of scaling were investigated. We emphasized that the individual variation should be thought highly from the human-centered point of view.To realize the advanced surgery simulator, modeling of geometrical / physical characteristics of soft deformable objects and topological transformation such as cutting and needle insertion were investigated as one of the killer application of micro operation. Less

主-从设备通过放大或缩小从侧观察到的力来呈现主侧的力。对于微运营的效率提升等，希望所显示的力被调节到人类感知的能力。在这项研究中，我们处理的缩放方法考虑的微分阈值的力量，这是一个内力的感觉特征。通过注意不同的阈限，获得了不仅能够感知力的存在而且能够感知力的变化的条件。在差异阈与标准刺激成比例的条件下，展示了主侧感知力变化的条件。同时，得到了感知尺度模的下限。将该条件应用于测量结果，讨论了测量值存在色散时定标系数的修正问题 ...更多信息显微外科手术中，操作人员必须能够识别微环境，并能很好地执行显微外科手术。缩放问题是最重要的问题之一。尺度问题的一个目标是在尽量减少物理信息损失的情况下，放大微环境的尺度。然而，在这项研究中，提出了以人为本的密封。在H_∞增益调度的框架下，实现了可变控制器的设计，使操作者能够在线选择合适的尺度参数。操作人员可以根据自己的感知能力和运动控制能力来选择最佳的缩放参数。为了证明来自微环境的直接力反射的重要性，产生了触觉成为关键因素的任务。在标度范围内的感知和手阻抗的人的特性进行了研究。强调以人为本，重视个体差异，研究柔性可变形物体几何/物理特性建模和拓扑变换（如切割、穿刺等），作为微手术的杀手级应用之一，实现先进的手术模拟器。少