An experimental validation of flexible actuator with thrust-rotational wire

Kei Mikami; Yusuke Kasahara; Kohei Ohnishi

doi:10.1109/IECON.2009.5415297

An experimental validation of flexible actuator with thrust-rotational wire

Kei Mikami, Yusuke Kasahara, Kohei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information to operator on remote control. However, the flexible actuators have been developed only for the rotational motion or only for the translational motion. This time, we developed two type wires that are able to transmit rotational and translational motion. In this paper, "thrust-rotation wire" which transmit rotational and translation motion were developed and characteristics of position/force and angular/torque transmissions of that were verified and both type were compared.

Original language	English
Pages	3053-3058
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5415297
Publication status	Published - 2009 Dec 1
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country/Territory	Portugal
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2009.5415297

Cite this

@conference{d15bd08315314ba68b384ce27abde30a,

title = "An experimental validation of flexible actuator with thrust-rotational wire",

abstract = "Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information to operator on remote control. However, the flexible actuators have been developed only for the rotational motion or only for the translational motion. This time, we developed two type wires that are able to transmit rotational and translational motion. In this paper, {"}thrust-rotation wire{"} which transmit rotational and translation motion were developed and characteristics of position/force and angular/torque transmissions of that were verified and both type were compared.",

author = "Kei Mikami and Yusuke Kasahara and Kohei Ohnishi",

year = "2009",

month = dec,

day = "1",

doi = "10.1109/IECON.2009.5415297",

language = "English",

pages = "3053--3058",

note = "35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 ; Conference date: 03-11-2009 Through 05-11-2009",

}

TY - CONF

T1 - An experimental validation of flexible actuator with thrust-rotational wire

AU - Mikami, Kei

AU - Kasahara, Yusuke

AU - Ohnishi, Kohei

PY - 2009/12/1

Y1 - 2009/12/1

N2 - Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information to operator on remote control. However, the flexible actuators have been developed only for the rotational motion or only for the translational motion. This time, we developed two type wires that are able to transmit rotational and translational motion. In this paper, "thrust-rotation wire" which transmit rotational and translation motion were developed and characteristics of position/force and angular/torque transmissions of that were verified and both type were compared.

AB - Flexible actuator, which is able to separate an end effector and an actuator, is developed for weight saving and miniaturization of robotic end effector. Flexible actuator consists of a flexible wire and a motor. This system is expected to be utilized for haptic motion with bilateral control. Flexible actuator with bilateral control is able to transmit position/force or angular/torque information to operator on remote control. However, the flexible actuators have been developed only for the rotational motion or only for the translational motion. This time, we developed two type wires that are able to transmit rotational and translational motion. In this paper, "thrust-rotation wire" which transmit rotational and translation motion were developed and characteristics of position/force and angular/torque transmissions of that were verified and both type were compared.

UR - http://www.scopus.com/inward/record.url?scp=77951600734&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77951600734&partnerID=8YFLogxK

U2 - 10.1109/IECON.2009.5415297

DO - 10.1109/IECON.2009.5415297

M3 - Paper

AN - SCOPUS:77951600734

SP - 3053

EP - 3058

T2 - 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

Y2 - 3 November 2009 through 5 November 2009

ER -

An experimental validation of flexible actuator with thrust-rotational wire

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this