novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.21.304-311novtexmech-805Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSУправление внедрением индентора в вязкоупругую ткань с использованием пьезоэлектрического приводаControl of Insertion of Indenter into Viscoelastic Tissue using a Piezoelectric DriveГорячеваИ. Г.GoryachevaI. G.

акад. РАН,

 Москва

Moscow, 119192, Russian Federation

Moscow, 119526, Russian Federation

 

goryache@ipmnet.ruДосаевМ. З.DosaevM. Z.

Москва

dosayev@imec.msu.ruСелюцкийЮ. Д.SelyutskiyY. V.

канд. физ.-мат. наук, 

Москва

seliutski@imec.msu.ruЯковенкоА. А.YakovenkoA. A.

аспирант

Москва

dolgopup_13@mail.ruHsiaoС.-Н.HsiaoC.-H.

701, Taiwan

n16061480@mail.ncku.edu.twHuangC.-Yu.HuangC.-Y.

профессор

 

701, Taiwan

gordon168999@yahoo.com.twJuM.-S.JuM.-S.

701, Taiwan

msju@mail.ncku.edu.twYehC.-H.YehC.-H.longerplus@gmail.comНИИ механики МГУ, Институт проблем механики им. А. Ю. Ишлинского РАНРоссияLomonosov Moscow State University Ishlinsky Institute for Problems in Mechanics RASRussian FederationНИИ механики МГУРоссияLomonosov Moscow State UniversityRussian FederationИнститут проблем механики им. А. Ю. Ишлинского РАНРоссияIshlinsky Institute for Problems in Mechanics RASRussian FederationНациональный университет Чен КунТайваньNational Cheng Kung UniversityTaiwan, Province of China202008052020215304311Copyright © Commercial Publisher «New Technologies», 20202020Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/805стереотаксическая операцияпьезоэлектрический приводматематическая модельконтактные характеристикиалгоритм управленияstereotactic operationpiezoelectric actuatormathematical modelcontact characteristicscontrol algorithmРабота выполнена при частичной поддержке Российского фонда фундаментальных исследований (проект 19-58-52004) и министерства науки и технологии Тайваня (MOST 108-2923-E-006-003-MY3).This article was supported by Russian Foundation for Basic Research (project #19-58-52004) and Taiwan Ministry of Science and Technology (project # MOST 108-2923-E-006 -003-MY3).ReferencesStoianovici D. et al. 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The authors declare that there are no conflicts of interest present.