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

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

研究成果: Paper査読

抄録

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.

本文言語English
ページ553-558
ページ数6
DOI
出版ステータスPublished - 2015 6 16
イベント2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
継続期間: 2015 3 172015 3 19

Other

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

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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