Transmission of force sensation achieved by tendon-driven spherical joint mechanism

Keita Shimamoto, Kazuki Tanida, Takahiro Nozaki, Kouhei Ohnishi

研究成果: Article

1 引用 (Scopus)

抄録

Conventionally, the large inertia in multiple-degree-of-freedom robots is a problem when using bilateral control for the transmission of force sensation. In this paper, a motion control method for tendon-driven spherical joint mechanisms is proposed to transmit the force sensation. The mechanism is lightweight and has two degrees of freedom in one joint. In the proposed control method, an imaginary plane is defined and utilized for force projection to control force. The experimental results show that the transmission of the force sensation was achieved using the proposed control method.

元の言語English
ページ(範囲)307-313
ページ数7
ジャーナルIEEJ Transactions on Industry Applications
133
発行部数3
DOI
出版物ステータスPublished - 2013

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Tendons
Force control
Motion control
Robots

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

これを引用

Transmission of force sensation achieved by tendon-driven spherical joint mechanism. / Shimamoto, Keita; Tanida, Kazuki; Nozaki, Takahiro; Ohnishi, Kouhei.

:: IEEJ Transactions on Industry Applications, 巻 133, 番号 3, 2013, p. 307-313.

研究成果: Article

Shimamoto, Keita ; Tanida, Kazuki ; Nozaki, Takahiro ; Ohnishi, Kouhei. / Transmission of force sensation achieved by tendon-driven spherical joint mechanism. :: IEEJ Transactions on Industry Applications. 2013 ; 巻 133, 番号 3. pp. 307-313.
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