Synchronism evaluation of multi-DOF motion-copying system for motion training

Koichiro Nagata, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Recently, motion control strategies that deal with position and force information simultaneously are attraction attention for human support. Acceleration control is one of the candidates for realizing position control and force control simultaneously. In this paper, the motion-copying system based on acceleration control is in focus. The motion-copying system is the system which stores human motion, by storing the postion and force information of the human motion. The motion-copying system is expected to be applied to systems in various fields, such as medical surgery robots as well as robots used to train skills. However, the convetional motion-copying system struggles with the problem of losing robustness in the motion-reproduction phase, especially under external disturbances. In this paper, a novel control strategy of motion-copying system which assures robustness under external disturbance is introduced. By using the proposed method, the motion-reproduction system will be able to reproduce the stored motion accurately, even when a trainee is holding on to the system and applying the external force to the system. This system enables a trainee to acquire the stored skills, using both the visual and the haptic sense. Validity of the proposed method is verified through experimental results.

本文言語English
ホスト出版物のタイトルProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ500-505
ページ数6
ISBN(電子版)9781479936335
DOI
出版ステータスPublished - 2015 4 9
イベント2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
継続期間: 2015 3 62015 3 8

出版物シリーズ

名前Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
国/地域Japan
CityNagoya
Period15/3/615/3/8

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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