An Experimental Validation of flexible actuator with torque wire for Haptic Motion

Tatsuya Kobayashi, Yujiro Soeda, Shoyo Hyodo, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A flexible actuator is a system applied release mechanism to separate an end-effector and a motor. That is for weight saving and miniaturization of robotic end-effector that are demanded in surgical robots especially. The flexible actuator has stiffness and flexibility. Therefore it transmits force input from the motor to the end-effector, and puts the end-effector on any position against the motor. Then flexible actuator can be used with bilateral control. With bilateral control, it can transmit force sensation from the end-effector contacting enviroment to operators. In this paper, a torque wire for transmission of rotation and torque is developed, and the characteristics of position/torque transmission are validated. Steady-state error is caused between the motor input and the end-effector response. The error is due to elastic torque of the torque wire as well as frictional torque between an inner wire and an outer tube. The end-effector response corresponds to the motor input Then, availability of the torque wire is confirmed.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages595-600
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

Fingerprint

Haptics
Experimental Validation
End effectors
Torque
Actuator
Actuators
Wire
Motion
Robotics
Stiffness
Tube
Availability
Robot
Flexibility
Operator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Kobayashi, T., Soeda, Y., Hyodo, S., & Ohnishi, K. (2008). An Experimental Validation of flexible actuator with torque wire for Haptic Motion. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 595-600). [4516134] https://doi.org/10.1109/AMC.2008.4516134

An Experimental Validation of flexible actuator with torque wire for Haptic Motion. / Kobayashi, Tatsuya; Soeda, Yujiro; Hyodo, Shoyo; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 595-600 4516134.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kobayashi, T, Soeda, Y, Hyodo, S & Ohnishi, K 2008, An Experimental Validation of flexible actuator with torque wire for Haptic Motion. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516134, pp. 595-600, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516134
Kobayashi T, Soeda Y, Hyodo S, Ohnishi K. An Experimental Validation of flexible actuator with torque wire for Haptic Motion. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 595-600. 4516134 https://doi.org/10.1109/AMC.2008.4516134
Kobayashi, Tatsuya ; Soeda, Yujiro ; Hyodo, Shoyo ; Ohnishi, Kouhei. / An Experimental Validation of flexible actuator with torque wire for Haptic Motion. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 595-600
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