Abstract: The manipulator has two-degree-of-freedom of rotation and gripping, and is capable of ensuring force feedback or force sensation with excellent operationability. A link mechanism 3 is provided between an operation part 1 and a working part 2. The link mechanism 3 has four driving rods 3a to 3d and first and second coupling members of the sane structure, 41, 42 provided at opposite ends of the driving rods. First and second working members 2a, 2b move correspondingly to the operation of first and second operating members 1a, 1b with the aid of the link mechanism 3. The first and second working member can open and close, change the yaw angles and the pitch angles in response to the same action of the first and second operating member through the link mechanism.

Abstract: A position/force control device includes position detectors on a master 1 side and on a slave 3 side. Reaction force estimation observers 2 and 4 estimate reaction force based on outputs of the position detectors. A position control part 5 generates acceleration signals apm, aps for controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors. The operation force control part 6 generates acceleration signals afm, afs for controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observers 2 and 4. The acceleration composition part 7 composes the two sets of acceleration signals apm, aps, and afm, afs, and outputs the driving signals for the master side and the slave side.

Abstract: [Problems]To provide a gene marker which enables diagnosis of rejection, evaluation of the efficacy of an immunosuppressive agent, and determination of the presence or absence of immunological tolerance; methods that can be performed in a quick, simple, and convenient manner by using the gene marker as an indicator for diagnosing rejection, evaluating the efficacy of an immunosuppressive agent, identifying an immunosuppressive agent, selecting an immunosuppressive agent, determining the dose of an immunosuppressive agent, and judging the presence or absence of immunological tolerance; a kit; and a method for screening for an immunosuppressive agent or an immunological tolerance-inducing agent. [Means for Solving Problems]Genes whose expression levels were increased because of rejection and whose expression levels were decreased because of immunosuppressive agents have been identified as gene markers.

Abstract: This invention of the position/force control device intends to improve response performance in high frequency band and to ensure realization of a delicate work. A position detector is provided each on a master 1 side and on a slave 3 side, respectively, and reaction force estimation observers 2 and 4 estimate reaction force undergone by the operation part of the master side and reaction force undergone by the object of the slave side on the basis of outputs of the position detectors. The position control part 5 generates acceleration signals apm, aps for controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors of the master side and of the slave side. The operation force control part 6 generates acceleration signals afm, afs for controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observers 2 and 4.

Abstract: There is provided a manipulator simplified in maintenance and operation thereof, the manipulator having the freedom of two-degree-of-freedom of rotation and gripping, and being capable of ensuring force feedback or force sensation with excellent operationability. A link mechanism 3 is provided between an operating part 1 and a working part 2. The link mechanism 3 comprises four driving rods 3a to 3d and first and second coupling members of the same structure, 41, 42 provided at opposite ends of the driving rods. First and second working members 2a, 2b move correspondingly to operations of first and second operating members 1a, 1b with the aid of the link mechanism 3. For example, provided that the first and second operating members 1a, 1b might be opened and closed, the first and second working members 2a, 2b might be opened and closed (gripping).