The combination of needling technique of Mind Regulation with Taoism Concentration is to promote the propagated sensation along the channels （PSC） and the needling sensation to the affected area in order to activate...The combination of needling technique of Mind Regulation with Taoism Concentration is to promote the propagated sensation along the channels （PSC） and the needling sensation to the affected area in order to activate the potential regulation of human body. Prof. Yang Yun-kuan used this combination to treat some pain diseases, nervous system＇s diseases and intractable chronic diseases and got a better result than the general techniques, This is the introduction to the manipulation of this technique and its clinical application.展开更多
In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiff...In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.展开更多
文摘The combination of needling technique of Mind Regulation with Taoism Concentration is to promote the propagated sensation along the channels （PSC） and the needling sensation to the affected area in order to activate the potential regulation of human body. Prof. Yang Yun-kuan used this combination to treat some pain diseases, nervous system＇s diseases and intractable chronic diseases and got a better result than the general techniques, This is the introduction to the manipulation of this technique and its clinical application.
基金supported by FRC Tier I grants R397000156112 and R397000157112,National University of Singapore
文摘In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.
