An experimental validation of haptic thrust wire for precise flexible actuation

Tatsuya Kobayashi, Tomoyuki Shimono, Kouhei Ohnishi

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

6 Citations (Scopus)


Flexible actuator which consists of a thrust wire and a linear motor realizes flexible arrangement of an actuator and an end-effector. Flexible actuator is able to transmit force sensation through a thrust wire. Thus, it is expected to be utilized in haptic motion systems. However, thre is an unignorable error between the generated force of the actuators and the actual force which is transmitted through the thrust wire. This is because of the disturbances such as the friction, and the mechanical play of a thrust wire. In this paper, an experimental validation of two types of thrust wire is conducted. Then, the reason why the force errors occurs is discussed.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)9781424417667
Publication statusPublished - 2008
Externally publishedYes

Publication series

NameIECON Proceedings (Industrial Electronics Conference)


  • Bilateral control
  • Flexible actuator
  • Haptic motion
  • Thrust wire

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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