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

Tomohiro Nakano, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Mechatronics, ICM 2013
ページ588-593
ページ数6
DOI
出版ステータスPublished - 2013 7 1
イベント2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
継続期間: 2013 2 272013 3 1

出版物シリーズ

名前2013 IEEE International Conference on Mechatronics, ICM 2013

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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