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

Koichiro Nagata, Seiichiro Katsura

研究成果: Conference contribution

1 引用 (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.

元の言語English
ホスト出版物のタイトルProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版者Institute of Electrical and Electronics Engineers Inc.
ページ500-505
ページ数6
ISBN(印刷物)9781479936335
DOI
出版物ステータス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

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
Japan
Nagoya
期間15/3/615/3/8

Fingerprint

Copying
Synchronization
Acceleration control
Robots
Force control
Position control
Motion control
Surgery

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

これを引用

Nagata, K., & Katsura, S. (2015). Synchronism evaluation of multi-DOF motion-copying system for motion training. : Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 500-505). [7084027] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084027

Synchronism evaluation of multi-DOF motion-copying system for motion training. / Nagata, Koichiro; Katsura, Seiichiro.

Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 500-505 7084027.

研究成果: Conference contribution

Nagata, K & Katsura, S 2015, Synchronism evaluation of multi-DOF motion-copying system for motion training. : Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015., 7084027, Institute of Electrical and Electronics Engineers Inc., pp. 500-505, 2015 IEEE International Conference on Mechatronics, ICM 2015, Nagoya, Japan, 15/3/6. https://doi.org/10.1109/ICMECH.2015.7084027
Nagata K, Katsura S. Synchronism evaluation of multi-DOF motion-copying system for motion training. : Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 500-505. 7084027 https://doi.org/10.1109/ICMECH.2015.7084027
Nagata, Koichiro ; Katsura, Seiichiro. / Synchronism evaluation of multi-DOF motion-copying system for motion training. Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 500-505
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