Scaling Problem for Micro Operation

主从设备通过放大或缩小从端观察到的力来呈现主端的力。为了提高微操作等的效率，希望将显示的力调整到人的感知能力。在本研究中，我们研究了考虑力的微分阈值的标度方法，这是内力感知特性之一。通过注意这些不同的要素，我们就获得了不仅可以感知存在，而且可以感知力的变化的条件。在微分阈值与标准刺激成正比的条件下，给出了感知主侧力变化的条件。同时，得到了感知尺度模量的下限。将这些条件应用于测量结果，讨论了测量值中存在色散时标度系数的修正问题。在微遥控手术中，如m…More微遥控手术，操作者必须能够识别微环境，并能很好地执行微遥控手术。缩放问题是最重要的问题之一。一般来说，缩放问题的目标是在最小化物理信息损失的情况下放大微环境的规模。然而，在本研究中，建议以人为中心的密封。在H_∞增益调度的框架下，实现了变量控制器的设计，使操作者能够在线选择合适的缩放参数。操作者可以综合考虑自己的感知能力和运动控制能力，选择最优的缩放参数。为了证明来自微环境的直接力反射的重要性，产生了以触觉为关键因素的任务。研究了人体感知特征和手部阻抗在标度范围内的变化。我们强调个体差异应该从以人为本的角度来考虑。为了实现先进的手术模拟器，研究了软质可变形物体的几何/物理特征建模以及切割和插针等拓扑变换作为微手术的杀手级应用之一。少

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