... Engineering, Kanazawa University,Kakuma, Kanazawa, 92 0-1 192, Japan2 Industrial Research Institute of Ishikawa, 2-1 Kuratsuki, Kanazawa, 92 0-8 2 03, Japan' Fujiseisakusho Co., Ltd.,Ha 195 ... modules; manipulator-positioning arm, forceps manipulator, and robotizedforceps with a two-DOF bending joint and a grasper. We assumed that target organ was mainly liver and that thehalf weight ... KurataDepartment of Mechanical Systems Engineering, Kansai University 3- 3 -3 5 , Yamatechou, Suita, Osaka 56 4-8 680, JapanABSTRACT A guidance control method to let an electric wheelchair follow an...