Title:
EXTERNAL FORCE ESTIMATION DEVICE AND FORCEPS SYSTEM
Document Type and Number:
WIPO Patent Application WO/2014/030363
Kind Code:
A1
Abstract:
The purpose of the present invention is to provide a novel external force estimation device and forceps system. This external force estimation device has a detection unit for detecting the amount of change in length of an elastic member deformed by external force, and a calculation unit for using the amount of change to calculate the external force. Here, preferably, the calculation unit calculates a three-axis component of the external force. Preferably, a wire is used to detect the amount of change. Preferably, the detection unit comprises a position sensor. Preferably, the amount of change in an elastic joint is detected. Also, this forceps system includes the external force estimation device.
Inventors:
TADANO KOTARO (JP)
KAWASHIMA KENJI (JP)
HARAGUCHI DAISUKE (JP)
KAWASHIMA KENJI (JP)
HARAGUCHI DAISUKE (JP)
Application Number:
PCT/JP2013/053771
Publication Date:
February 27, 2014
Filing Date:
February 16, 2013
Export Citation:
Assignee:
TOKYO INST TECH (JP)
TADANO KOTARO (JP)
KAWASHIMA KENJI (JP)
HARAGUCHI DAISUKE (JP)
TADANO KOTARO (JP)
KAWASHIMA KENJI (JP)
HARAGUCHI DAISUKE (JP)
International Classes:
G01L1/04; A61B17/28; B25J18/06; B25J19/02; G01L5/16
Domestic Patent References:
| WO2011036750A1 | 2011-03-31 |
Foreign References:
| JP2002264048A | 2002-09-18 | |||
| JPH01267429A | 1989-10-25 | |||
| JP2004205432A | 2004-07-22 |
Other References:
DAISUKE HARAGUCHI: "A Prototype of Pneumatically-Driven Forceps Manipulator with Force Sensing Capability Using a Simple Flexible Joint", IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, September 2011 (2011-09-01), pages 931 - 936
Attorney, Agent or Firm:
ISOYAMA HIRONOBU (JP)
Hironobu Isoyama (JP)
Hironobu Isoyama (JP)
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