Development of Palpation Simulator Using Pneumatic Parallel Manipulator
نویسنده
چکیده
Nowadays, the breast cancer, over ahead of stomach one, holds the highest cancer incidence rate among Japanese women. Detection of breast cancer is done by palpation diagnosis, which require doctor to have highly experienced technique. In this study, we develop a palpation simulator which forms a woman’s actual breast model holding active controlled variable stiffness property. A pneumatic parallel manipulator is employed as mechanical part of our simulator. In order to display a concrete stiffness feeling to human (doctor), control strategy is proposed where the contact point is detected using an idea of graphical intersection test. A reference stiffness is realized by constructing a compliance control system. By regulating the reference stiffness value according to the contact point, a palpation motion is executed. The validity of the proposed palpation system are confirmed through some experiments and analysis.
منابع مشابه
Development of force displaying device using pneumatic parallel manipulator and application to palpation motion
Absfracf-The goal of this study is to develop a mechanical system which display elastic characteristic like stiffness on the surface of human body aiming at applying to palpation simulator. Pneumatic parallel manipulator is employed as a driving mechanism, consequently, it brings capability of minute force displaying property owing to the air compressibility. Compliance control system without u...
متن کاملDesign and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator
This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...
متن کاملForward Position Kinematics of a Parallel Manipulator with New Architecture
The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...
متن کاملPlanar Parallel 3-rpr Manipulator
This paper describes the design, construction, and control of a planar three degree-of-freedom (dof) inparallel-actuated manipulator at Ohio University. The actuators are three pneumatic cylinders. Using real-time closed-loop feedback control for each actuator length independently, we develop inverse pose and resolved-rate control for this manipulator. The objective of this work is to implement...
متن کاملAdaptive robust posture control of a parallel manipulator driven by pneumatic muscles
Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic modeling of a parallel manipulator driven by pneumatic muscles. Those uncertainties not only come from the timevarying friction forces and the static force modeling errors of pneumatic muscles but also from the inherent complex nonlinearities and unknown disturbances of the parallel manipulator. In this pap...
متن کامل