Optimal and Safe Design of Impedance Parameters of Surgical Robot System

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In this research, a pneumatic-driven forceps manipulator that is able to estimate external forces without using any forceps sensor was newly developed. The force sensitivity was improved to about 0.5N and the effectiveness of the developed system was confirmed through in-vivo experiments. We confirmed presence of parameters of the damping coefficient that maximize the efficiency of a basic task. Also, we proposed an impedance control system that changes the damping coefficient on the basis of human kinematic characteristics. The system realized both operability and stability.