... Engineering, Kanazawa University,Kakuma, Kanazawa, 92 0-1 192, Japan2 Industrial Research Institute of Ishikawa, 2-1 Kuratsuki, Kanazawa, 92 0-8 203, 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 ... picking up of a thing, assistance of attachment and detachment clothes and change ofposture, standing up and the support in the case of a walk, opening and/ or closing of a door, operationof a...