Development of an Ultrasonic Clutch for Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous Teleoperation

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

13 Citations (Scopus)

Abstract

A novel multi-fingered exoskeleton haptic device using passive force feedback has been proposed by the authors. The haptic device solves the conventional problems of previously developed master-slave systems with force feedback, such as oscillations, complex structures and complicated control algorithm. However, some problems still remain in the conventional passive elements. In the present paper, an ultrasonic clutch for multi-fingered exoskeleton haptic device with passive force feedback function is developed. The ultrasonic clutch can solve problems of conventional passive elements, such as time delay, instability, and large size, by using unique characteristics of ultrasonic motor, as fast response, silent motion, and non-magnetic feature. It can also be designed to be smaller than conventional elements due to its simple structure. The clutch locks or releases the rotor by use of ultrasonic levitation phenomenon. First, we have designed the structure of the ultrasonic clutch using an equation of ultrasonic levitation phenomenon, results from structural analysis and finite element (FE) analysis of piezoelectric material of the vibrator. Then we have manufactured the ultrasonic clutch and have conducted a driving experiment. Finally, we have demonstrated that the maximum levitation force is around 20 N and the static friction torque of the ultrasonic clutch is up to 0.14 Nm.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2229-2234
Number of pages6
Volume3
Publication statusPublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

Fingerprint

Clutches
Remote control
Ultrasonics
Feedback
Vibrators
Piezoelectric materials
Structural analysis
Time delay
Torque
Rotors
Friction
Finite element method

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Koyama, T., Takemura, K., & Maeno, T. (2003). Development of an Ultrasonic Clutch for Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous Teleoperation. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 2229-2234)

Development of an Ultrasonic Clutch for Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous Teleoperation. / Koyama, Tatsuya; Takemura, Kenjiro; Maeno, Takashi.

IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2003. p. 2229-2234.

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

Koyama, T, Takemura, K & Maeno, T 2003, Development of an Ultrasonic Clutch for Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous Teleoperation. in IEEE International Conference on Intelligent Robots and Systems. vol. 3, pp. 2229-2234, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 03/10/27.
Koyama T, Takemura K, Maeno T. Development of an Ultrasonic Clutch for Multi-Fingered Exoskeleton Haptic Device using Passive Force Feedback for Dexterous Teleoperation. In IEEE International Conference on Intelligent Robots and Systems. Vol. 3. 2003. p. 2229-2234
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