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The controller we developed for master-slave remote ultrasound diagnostics for an aging society has a variable impedance control capability for master/slave manipulator positions. Diagnostic tasks are classified in remote ultrasound diagnosis, then methods and devices are proposed to change virtual viscosity based on diagnostic tasks. Remote ultrasound diagnostic experiments demonstrated that health-care professionals could perform diagnosis efficiently using the proposed system.
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Koizumi et al. (2004) studied this question.
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