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A prototype of pneumatically-driven forceps manipulator with force sensing capability using a simple flexible joint.

Daisuke HaraguchiKotaro TadanoKenji Kawashima
Published in: IROS (2011)
Keyphrases
  • laparoscopic surgery
  • real time
  • degrees of freedom
  • robotic arm
  • image processing
  • control system
  • vision system
  • force sensing