Verification of Twist Drive system and its application to haptic robot hand

Seiji Uozumi, Shuhei Shimizu, Takuya Matsunaga, Tomohiro Nakano, Kouhei Ohnishi

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

Abstract

The objective of this study is to propose the master-slave tendon-driven haptic robot hand system using Twist Drive. Twist Drive is one of transmission systems which is consisted of a pair of strings and rotary motor. This transmission system converts torque into a high pulling force by using a pair of strings twisted on each other. In this paper, Twist Drive system is verified at first. Next, Twist Drive system is implemented to the master-slave tendon-driven robot hand system to realize the downsizing of the actuator part. In order to realize haptic transmission, a method which can achieve 4ch-bilateral control and tendon-driven control, simultaneously is implemented. Here, to achieve the tendon-driven control, a method to keep the wire tension using compliance control based on hybrid angle is realized. The effect of the proposed system is verified through experiments.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages553-558
Number of pages6
Volume2015-June
EditionJune
DOIs
Publication statusPublished - 2015 Jun 16
Event2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
Duration: 2015 Mar 172015 Mar 19

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
CountrySpain
CitySeville
Period15/3/1715/3/19

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Keywords

  • 4ch-bilateral control
  • Haptic robot hand
  • Tendon drive
  • Tension control
  • Twist Drive

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Uozumi, S., Shimizu, S., Matsunaga, T., Nakano, T., & Ohnishi, K. (2015). Verification of Twist Drive system and its application to haptic robot hand. In Proceedings of the IEEE International Conference on Industrial Technology (June ed., Vol. 2015-June, pp. 553-558). [7125157] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2015.7125157