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1Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, 2-3-10 Kandasurugadai, Chiyoda-ku, Tokyo 101-0062, Japan 2Department of Information Physics and Computing, Tokyo University, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan 3Institute of Innovative Research, Tokyo Institute of Technology, 4259, Midori-ku, Yokohama, Kanagawa 226-8503, Japan 4Riverfield Inc, Yotsuya Medical Bldg. 5th floor, 20 Samon-cho, Shinjuku-ku, Tokyo, Japan

Pneumatically Driven Vertical Articulated Robotic Arm for Surgical Task with Inertia Estimation