711 頸部筋構造を模擬した視覚情報獲得ロボットの開発

概要

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The objective of this study is to develop a man-machine interface for collecting visual information for tele-surgery. Developed system consists of a master part and a slave part. The master part has a gyro-sensor system to detect movement of the head and a face-mounted-display to present visual information to users. The slave part consists of a slave robot mounted on a CCD camera to collect images. The slave robot is driven by four wires mechanism, which is emulated human jugular muscles construction, based on the signal from the master part. Basic control performance of the slave robot was examined. Maximum controllable angles of the robot were 15 degrees around the x and y axes and 7 degrees around the z axis, respectively. The slave robot could be controlled based on the head movement detected by the master part. But, the rotation around z axis has 7 degrees difference with the real head movement. Further improvement of the wire mechanism of the slave robot is needed.
社団法人日本機械学会の論文
2002-08-23