Variable tension control for master-slave tendon-driven robot hand

Tomohiro Nakano, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

The teleoperation using a multi-degree of freedom tendon-driven robot hand is suitable for human support because intuitive operations can be conducted. In the teleoperation, bilateral control is used to transmit tactile sensation. It is necessary for bilateral control to achieve high operationality and high resonant frequency of force control at one time. Unfortunately, in the tendon-driven system, operationality and resonant frequency of force control are affected by wire tension. Low tension force is better to get high operationality. On the other hand, resonant frequency of force control becomes higher as the tension force increases. Therefore, in this paper, variable tension control is proposed to improve the performance of the tendon-driven bilateral control. Variable tension commands are derived from the joint torque responses. High operationality can be achieved in free motion and high resonant frequency of force control can be achieved in contact motion. The validity of the proposed method was confirmed through experiments of bilateral control.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages588-593
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

Fingerprint

Tendons
End effectors
Force control
Robots
Natural frequencies
Remote control
Torque
Wire
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Nakano, T., Saito, Y., Nozaki, T., & Ohnishi, K. (2013). Variable tension control for master-slave tendon-driven robot hand. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 588-593). [6519108] https://doi.org/10.1109/ICMECH.2013.6519108

Variable tension control for master-slave tendon-driven robot hand. / Nakano, Tomohiro; Saito, Yuki; Nozaki, Takahiro; Ohnishi, Kouhei.

2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 588-593 6519108.

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

Nakano, T, Saito, Y, Nozaki, T & Ohnishi, K 2013, Variable tension control for master-slave tendon-driven robot hand. in 2013 IEEE International Conference on Mechatronics, ICM 2013., 6519108, pp. 588-593, 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 13/2/27. https://doi.org/10.1109/ICMECH.2013.6519108
Nakano T, Saito Y, Nozaki T, Ohnishi K. Variable tension control for master-slave tendon-driven robot hand. In 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 588-593. 6519108 https://doi.org/10.1109/ICMECH.2013.6519108
Nakano, Tomohiro ; Saito, Yuki ; Nozaki, Takahiro ; Ohnishi, Kouhei. / Variable tension control for master-slave tendon-driven robot hand. 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. pp. 588-593
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