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 publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages595-600
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

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

ASJC Scopus subject areas

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

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  • Cite this

    Kobayashi, T., Soeda, Y., Hyodo, S., & Ohnishi, K. (2008). An Experimental Validation of flexible actuator with torque wire for Haptic Motion. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 595-600). [4516134] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516134