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Haptic Interface with Hydraulic Actuator for Training Simulation of Radial Artery Puncture |
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Chengjie Li, Doo Yong Lee(KAIST, Korea) |
| This paper presents a schematic design of a novel haptic interface for the training simulation of radial artery puncture. The proposed haptic interface has one degree-of-freedom haptic feedback in the needle axial direction. A hydraulic actuator is designed to provide the haptic sensation of the radial artery puncture. The hydraulic system consists of two syringes connected with a water tube. A new mechanism of the syringe plunger is designed to detect the user’s intention to insert the needle. The proposed haptic interface is verified by experiments. The results show the haptic interface. |
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New Collision Force Suppression Mechanism and Base Control of Human-Friendly Robot |
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Naoto Tanaka, Hun-ok Lim(Kanagawa University, Japan) |
| This paper describes a human-friendly robot capable of securing human safety in human-robot collisions. The upper body of the robot has 11 DOFs, including 3 DOFs in the waist, 2 DOFs in each shoulder, 1 DOF in each elbow and 1 DOF in each hand. The upper body is mounted on the base with four omnidirectional wheels. A new light-weight collision force suppression mechanism that is able to operate with very little backlash was developed and was installed at the elbow of the human-friendly robot. The suppression mechanism consists a drum, a clutch gear, two release air bag, two stopper linings, an |
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A Robust Joint GSS And Source Localization Algorithm For Robot Audition In Strong Reverberant Environment |
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Huawei Zhang(Chongqing University of Posts and Telecommunications, China), Chenghao Chen, Yi Zhou(Chongqing University of Posts and Telecomunications, China) |
| In this paper, a joint GSS and SL algorithm is proposed for robot audition applications in strong reverberant environments. This new method estimates the parameters of blind dereverber- ation (BD), SL and GSS alternatively, which is similar to the conditional separation and dereverberation (CSD) method to release the one-source assumption of many BD algorithms. Furthermore, the proposed method can also be used as a robust SL algorithm alone if necessary. Experimental results verified the robust performance achieved by the proposed algorithm. |
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