Estimation of disturbance force caused by thrust wire using a spring and damper model

Mari Kawamoto, Yusuke Suzuki, Daisuke Yashiro, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

The technology in robotics has been developed remarkably in recent years. Especially, usage of robots in medical field, such as telesurgery, is expected more and more along with the population aging. To realize precise surgery, accurate transmission of force sensation is an important issue. Therefore, bilateral control system is taking attention for the application of robots to telesurgery. Bilateral control system consists of motors and encoders. To reduce the weight of robots, the flexible actuator, which is composed of direct drive motor and thrust wire, is a useful device. However, in multi-DOF robots, disturbance force occurs to move the thrust wire and the operability of the robot deteriorates as a result. This paper proposes a spring and damper model to estimate such disturbance force. Estimated disturbance force is evaluated comparing with experimentally obtained values.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages1263-1268
Number of pages6
DOIs
Publication statusPublished - 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

Fingerprint

Wire
Robots
Control systems
Surgery
Robotics
Actuators
Aging of materials

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kawamoto, M., Suzuki, Y., Yashiro, D., & Ohnishi, K. (2010). Estimation of disturbance force caused by thrust wire using a spring and damper model. In IECON Proceedings (Industrial Electronics Conference) (pp. 1263-1268). [5675551] https://doi.org/10.1109/IECON.2010.5675551

Estimation of disturbance force caused by thrust wire using a spring and damper model. / Kawamoto, Mari; Suzuki, Yusuke; Yashiro, Daisuke; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2010. p. 1263-1268 5675551.

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

Kawamoto, M, Suzuki, Y, Yashiro, D & Ohnishi, K 2010, Estimation of disturbance force caused by thrust wire using a spring and damper model. in IECON Proceedings (Industrial Electronics Conference)., 5675551, pp. 1263-1268, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10/11/7. https://doi.org/10.1109/IECON.2010.5675551
Kawamoto M, Suzuki Y, Yashiro D, Ohnishi K. Estimation of disturbance force caused by thrust wire using a spring and damper model. In IECON Proceedings (Industrial Electronics Conference). 2010. p. 1263-1268. 5675551 https://doi.org/10.1109/IECON.2010.5675551
Kawamoto, Mari ; Suzuki, Yusuke ; Yashiro, Daisuke ; Ohnishi, Kouhei. / Estimation of disturbance force caused by thrust wire using a spring and damper model. IECON Proceedings (Industrial Electronics Conference). 2010. pp. 1263-1268
@inproceedings{413bd20d912b4dfeb9f68f86e9ffc6a6,
title = "Estimation of disturbance force caused by thrust wire using a spring and damper model",
abstract = "The technology in robotics has been developed remarkably in recent years. Especially, usage of robots in medical field, such as telesurgery, is expected more and more along with the population aging. To realize precise surgery, accurate transmission of force sensation is an important issue. Therefore, bilateral control system is taking attention for the application of robots to telesurgery. Bilateral control system consists of motors and encoders. To reduce the weight of robots, the flexible actuator, which is composed of direct drive motor and thrust wire, is a useful device. However, in multi-DOF robots, disturbance force occurs to move the thrust wire and the operability of the robot deteriorates as a result. This paper proposes a spring and damper model to estimate such disturbance force. Estimated disturbance force is evaluated comparing with experimentally obtained values.",
author = "Mari Kawamoto and Yusuke Suzuki and Daisuke Yashiro and Kouhei Ohnishi",
year = "2010",
doi = "10.1109/IECON.2010.5675551",
language = "English",
isbn = "9781424452262",
pages = "1263--1268",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",

}

TY - GEN

T1 - Estimation of disturbance force caused by thrust wire using a spring and damper model

AU - Kawamoto, Mari

AU - Suzuki, Yusuke

AU - Yashiro, Daisuke

AU - Ohnishi, Kouhei

PY - 2010

Y1 - 2010

N2 - The technology in robotics has been developed remarkably in recent years. Especially, usage of robots in medical field, such as telesurgery, is expected more and more along with the population aging. To realize precise surgery, accurate transmission of force sensation is an important issue. Therefore, bilateral control system is taking attention for the application of robots to telesurgery. Bilateral control system consists of motors and encoders. To reduce the weight of robots, the flexible actuator, which is composed of direct drive motor and thrust wire, is a useful device. However, in multi-DOF robots, disturbance force occurs to move the thrust wire and the operability of the robot deteriorates as a result. This paper proposes a spring and damper model to estimate such disturbance force. Estimated disturbance force is evaluated comparing with experimentally obtained values.

AB - The technology in robotics has been developed remarkably in recent years. Especially, usage of robots in medical field, such as telesurgery, is expected more and more along with the population aging. To realize precise surgery, accurate transmission of force sensation is an important issue. Therefore, bilateral control system is taking attention for the application of robots to telesurgery. Bilateral control system consists of motors and encoders. To reduce the weight of robots, the flexible actuator, which is composed of direct drive motor and thrust wire, is a useful device. However, in multi-DOF robots, disturbance force occurs to move the thrust wire and the operability of the robot deteriorates as a result. This paper proposes a spring and damper model to estimate such disturbance force. Estimated disturbance force is evaluated comparing with experimentally obtained values.

UR - http://www.scopus.com/inward/record.url?scp=78751548629&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78751548629&partnerID=8YFLogxK

U2 - 10.1109/IECON.2010.5675551

DO - 10.1109/IECON.2010.5675551

M3 - Conference contribution

AN - SCOPUS:78751548629

SN - 9781424452262

SP - 1263

EP - 1268

BT - IECON Proceedings (Industrial Electronics Conference)

ER -