Transmission of high precision force sensation by bilateral system with flexible actuator

Tatsuya Kobayashi, Tomoyuki Shimono, Shoyo Hyodo, Kouhei Ohnishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

A flexible actuator that consists of a thrust wire and a linear motor realizes the flexible arrangement of an actuator and an end-effector. The flexible actuator is able to transmit force sensation through a thrust wire. Thus, it is expected to be utilized in haptic motion systems. However, there is a non-negligible error between the generated force of the actuators and the actual force that is transmitted through the thrust wire. This is because of the disturbances such as friction and mechanical play of a thrust wire. In a bilateral system with thrust wires for haptic motion the disturbance must be compensated. A new method for the compensation of the disturbance in the bilateral system with thrust wire is proposed in this paper. The effectiveness of the proposed method is investigated through experimental results.

Original languageEnglish
Pages (from-to)748-755+11
Journalieej transactions on industry applications
Volume129
Issue number7
DOIs
Publication statusPublished - 2009 Sep 21

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Keywords

  • Bilateral control
  • Flexible actuator
  • Thrust wire

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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