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Soft tissue environment haptic modeling for tele-manipulation robot system

Xu Jingjing,Chen Xiaokai,Zeng Qingjun(School of Electronic and Information,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China)  
Soft tissue working environment is a significant characteristic of tele-manipulation robots.Its accurate dynamic modeling is important.This paper developed a series of tele-manipulation robot experimental system.According to experiment of needle insertion into physical soft tissue of animals,the authors built up the reciprocal model of force feedback during interaction.Moreover,the authors undertook an experiment of tele-manipulation puncture and got the curve of stress of animal soft tissue under the environment of insertion experiment.Based on recurrent least square method,the parameters of model were identified.Experimental result indicates that the dynamic model of nonlinear soft tissue is precise,and it can reflect the force variation during insertion.Also,it can be used in the simulation of control strategy.
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