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

8 Citations (Scopus)

Abstract

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
Pages2503-2508
Number of pages6
DOIs
Publication statusPublished - 2008
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period08/11/1008/11/13

Fingerprint

Wire
Actuators
Linear motors
End effectors
Friction

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Kobayashi, T., Shimono, T., & Ohnishi, K. (2008). An experimental validation of haptic thrust wire for precise flexible actuation. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 2503-2508). [4758350] https://doi.org/10.1109/IECON.2008.4758350

An experimental validation of haptic thrust wire for precise flexible actuation. / Kobayashi, Tatsuya; Shimono, Tomoyuki; Ohnishi, Kouhei.

Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 2503-2508 4758350.

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

Kobayashi, T, Shimono, T & Ohnishi, K 2008, An experimental validation of haptic thrust wire for precise flexible actuation. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758350, pp. 2503-2508, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, United States, 08/11/10. https://doi.org/10.1109/IECON.2008.4758350
Kobayashi T, Shimono T, Ohnishi K. An experimental validation of haptic thrust wire for precise flexible actuation. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 2503-2508. 4758350 https://doi.org/10.1109/IECON.2008.4758350
Kobayashi, Tatsuya ; Shimono, Tomoyuki ; Ohnishi, Kouhei. / An experimental validation of haptic thrust wire for precise flexible actuation. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. pp. 2503-2508
@inproceedings{a323ce4d4fa54e7dbcb0d2b9b9ff0437,
title = "An experimental validation of haptic thrust wire for precise flexible actuation",
abstract = "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.",
keywords = "Bilateral control, Flexible actuator, Haptic motion, Thrust wire",
author = "Tatsuya Kobayashi and Tomoyuki Shimono and Kouhei Ohnishi",
year = "2008",
doi = "10.1109/IECON.2008.4758350",
language = "English",
isbn = "9781424417667",
pages = "2503--2508",
booktitle = "Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008",

}

TY - GEN

T1 - An experimental validation of haptic thrust wire for precise flexible actuation

AU - Kobayashi, Tatsuya

AU - Shimono, Tomoyuki

AU - Ohnishi, Kouhei

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

KW - Bilateral control

KW - Flexible actuator

KW - Haptic motion

KW - Thrust wire

UR - http://www.scopus.com/inward/record.url?scp=63149101530&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=63149101530&partnerID=8YFLogxK

U2 - 10.1109/IECON.2008.4758350

DO - 10.1109/IECON.2008.4758350

M3 - Conference contribution

AN - SCOPUS:63149101530

SN - 9781424417667

SP - 2503

EP - 2508

BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008

ER -