著者

大西 公平 斉藤 佑貴 福島 聡 松永 卓也 野崎 貴裕

出版者

日本AEM学会

雑誌

日本AEM学会誌 (ISSN:09194452)

巻号頁・発行日

vol.25, no.1, pp.9-16, 2017 (Released:2017-05-24)

参考文献数

13

被引用文献数

1 1

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Real haptics has been a unsolved problem since its starting in 1940's. After many R&Ds including the early works in US and other countries, the bilateral control designed in acceleration space solves this issue. The quality of the touching and tactile sensation is heavily depends on transperancy between master side and slave side. The robust motion control which is equal to the acceleration control gives high transperancy. The real haptics is now key concept in 21st century where QOL should be the basis of the society. The various examples are also shown.

著者

大西 公平

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.11, no.4, pp.486-493, 1993-05-15 (Released:2010-08-25)

参考文献数

19

被引用文献数

82 220

著者

松瀬 貢規 大西 公平

出版者

一般社団法人 電気学会

雑誌

電氣學會雜誌 (ISSN:00202878)

巻号頁・発行日

vol.112, no.9, pp.673-673, 1992-09-20 (Released:2008-04-17)

参考文献数

3

著者

林田 宣宏 矢向 高弘 村上 俊之 大西 公平

出版者

公益社団法人精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.67, no.11, pp.1834-1838, 2001-11-05

参考文献数

5

被引用文献数

12 13

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A bilateral robot is one of the remote control robots. By implementing the force feed back, it is possible for the operator to have the sense of the touch. But the force sensor is affected by unknown disturbance such as its temperature variation and so on. For that reason, it is not expected to use the force sensor at the extreme situation. In the sensorless approach, the reaction torque observer is used. But the reaction observer is easy to be influenced of the friction. This makes it difficult to estimate the external force. To address the above issue, this article proposes a twin drive system. This system is composed of two motors and one differential mechanism. It is required to control two motors for two degrees of freedom. To consider the above issue, two virtual motors are proposed. One is deal with the output control and the other is for friction compensation. The twin drive system brings a sophisticated ability to the system, which is a reduction ability of the friction. By using this system, it is possible to realize the remote control robot, where the operator can feel the obstacle which the slave robot touches. This system may help the remote control work more skillfully. The validity of the proposed method is confirmed by the experimental results.

著者

大西 公平 溝口 貴弘 下野 誠通

出版者

一般社団法人 日本人工臓器学会

雑誌

人工臓器 (ISSN:03000818)

巻号頁・発行日

vol.47, no.1, pp.52-57, 2018-06-15 (Released:2018-09-15)

参考文献数

6

著者

村上 俊之 中村 亮 郁 方銘 大西 公平

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.11, no.5, pp.765-768, 1993-07-15 (Released:2010-08-25)

参考文献数

6

被引用文献数

21 68

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The paper describes a force sensorless control in multi-degrees-of-fredom robot. In the active com-pliant control, force sensor is attached to the robot to detect the reaction force. However it makes a structure of the robot system complicated. To improve this problem, we propose the force sensorless control strategy based on disturbance observer.First, a basic structure of the dusturbance observer is shown. Then the calculation process of the reaction force is also introduced. Second, the force sensorless compliant controller is constructed. The experimental results are also shown to confirm the validity of the proposed method.

著者

嶌本 慶太 谷田 和貴 野崎 貴裕 大西 公平

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.133, no.3, pp.307-313, 2013-03-01

参考文献数

10

---

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.

著者

小川 健司 富塚 大輔 吉池 美紀 野澤 資亜利 中澤 龍斗 佐藤 陽子 森川 康英 岩本 晃明 大西 公平

出版者

一般社団法人 日本コンピュータ外科学会

雑誌

日本コンピュータ外科学会誌 (ISSN:13449486)

巻号頁・発行日

vol.20, no.1, pp.33-41, 2018 (Released:2018-08-08)

参考文献数

14

---

Background and Aims : Non-obstructive azoospermia (NOA) is one of the most serious causes of male infertility. Microdissection testicular sperm extraction (MD-TESE) is a first-line therapy of NOA ; however, sperm retrieval rate from MD-TESE differs substantially between surgeons and is generally insufficient. To develop a new accessible method to identify seminiferous tubules with sperm in real time during MD-TESE, we have made a hypothesis that the hardness of seminiferous tubule wall is available as a quantitative index for the presence of sperm. In this study, as a first step, we determined the stiffness of the testis from an animal model of NOA using a measuring system that we designed.Methods : Male Syrian hamster with bilateral experimental cryptorchidism was used as a NOA model. Stiffness of the testis was evaluated with two different indices of stiffness value : Kj (the stiffness value in a small interval) and K (the mean of Kj values) by using an indentation instrument with a micro force sensor.Results : Hamster testis was confirmed to be valid as a dynamic model for physical measurements by checking the dependency of stiffness and viscosity on the reaction force generated in indentation procedure. Both stiffness values of the testis with cryptorchidism were significantly decreased compared with those of the control testis.Conclusion : The results suggest that our system is useful for quantitative evaluation of testis stiffness. Testis hardness has promise for a new index for spermatogenesis. As the next step, we need this approach to permit measurement for seminiferous tubules.

著者

佐藤 貴彦 新明 脩平 仲里 三希 見上 慧 佐藤 智矢 境野 翔 大西 公平

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.131, no.3, pp.283-290, 2011-03-01 (Released:2011-03-01)

参考文献数

19

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This paper proposes a knee stretch walking method for biped robots; the method involves the use of the toes and heel joints to increase walking strides. A knee can be stretched by switching control variables. By a knee stretch walking with heel contacts to the ground and toe takeoffs from the ground, biped robots can increase their walking stride and speed. The validity of the proposed method is confirmed by simulation and experimental results.

著者

大西 公平

出版者

一般社団法人 電気学会

雑誌

電気学会誌 (ISSN:13405551)

巻号頁・発行日

vol.115, no.6, pp.370-373, 1995-05-20 (Released:2008-04-17)

参考文献数

2

著者

桂 誠一郎 大西 公平

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.123, no.11, pp.1371-1376, 2003 (Released:2004-06-18)

参考文献数

10

被引用文献数

9 15

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Minimally invasive surgery (MIS) which thinks a great deal of patient’s quality of life (QOL) has attracted attention during about ten years. In this paper, it aims at development of the technology for transmitting force sensation required in medical treatment especially through surgical instruments, such as forceps. In bilateral control, it is a problem how master and slave robots realize the law of action and reaction to the environment. Mechanism of contact with environment and bilateral controller based on stiffness are shown. Master arm in contact with human and slave arm in contact with environment are given compliance, and stable contact with environment can be realized. The proposed method is applied to 3-link master-slave manipulators. As a result, transmission and reproduction of force sensation can be realized. The experimental results show viability of the proposed method.

著者

大西 公平

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.11, no.4, pp.6-13, 1993-05-15

参考文献数

19

被引用文献数

153 220

著者

大西 公平

出版者

一般社団法人 電気学会

雑誌

電気学会誌 (ISSN:13405551)

巻号頁・発行日

vol.133, no.5, pp.268-269, 2013-05-01 (Released:2013-05-01)

参考文献数

6

被引用文献数

14

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本記事に「抄録」はありません。

著者

武井 貴義 下野 誠通 大西 公平

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.129, no.6, pp.601-607, 2009-06-01

被引用文献数

5 4

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Recently, minimally invasive surgery (MIS) has become apparent. Research has been performed on surgical robots needed in MIS. In the case of MIS, it is effective to express environmental impedance as numerical data in order to preserve it for establishing standard reference values of the conditions of internal organs. In this paper, we propose a novel method for the estimation of stiffness in real environments in which bilaterally controlled robots are needed. By using the proposed method, environmental stiffness can be estimated dynamically regardless of the initial position of slave system. The viability of the proposed method is confirmed from the experimental results.

著者

結城 和明 村上 俊之 大西 公平

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.113, no.10, pp.1162-1169, 1993

被引用文献数

38 55

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Recently, with the progress of robust control techniques, the resonance of mechanical systems becomes a more important problem. This paper presents a position control method to suppress the torsional vibration of a 2 mass resonant system. Here we propose a sensorless control of arm portion. In this case, it is necessary to estimate some states of the arm portion. When motor portion parameters are well known due to several identifications, the reaction torque caused by the shaft torsion can be estimated. This reaction torque feedback makes it possible to control the resonance frequency between the torque current and the motor position. Here, we introduce a new concept which is called "Resonance Ratio". The resonance ratio is determined arbitrarily by the feedback of the reaction torque. The proposed method is a reasonable concept from a mechanical point of view.<br>The proposed control system is based on both the conventional PD control and the resonance ratio control. Then any sensor information of the arm portion is not used, and the proposed controller is a very simple structure. This is one of the remarkable points of the proposed method. We discuss an idea of the determination method of controller gains. The validity of the proposed method is also proved by several experiments.

著者

笠原 佑介 下野 誠通 桑原 央明 佐藤 正尭 大西 公平

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.130, no.4, pp.477-484, 2010-04-01

被引用文献数

2

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Motion recognition based on sensory information is important for providing assistance to human using robots. Several studies have been carried out on motion recognition based on image information. However, in the motion of humans contact with an object can not be evaluated precisely by image-based recognition. This is because the considering force information is very important for describing contact motion. In this paper, a modal-power-based haptic motion recognition is proposed; modal power is considered to reveal information on both position and force. Modal power is considered to be one of the defining features of human motion. A motion recognition algorithm based on linear discriminant analysis is proposed to distinguish between similar motions. Haptic information is extracted using a bilateral master-slave system. Then, the observed motion is decomposed in terms of primitive functions in a modal space. The experimental results show the effectiveness of the proposed method.

著者

内村 裕 大西 公平

出版者

芝浦工業大学

雑誌

基盤研究(C)

巻号頁・発行日

2008

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無線ネットワークを介してロボットを遠隔操作し,離れた場所からの救急医療や災害時のレスキュー活動に適用可能なシステムの実現を目指し,無線通信における変動を含む通信遅延に対応した制御手法の構築と同時に,通信強度を指標とした自律移動制御を通信中継ロボットに搭載し実証実験を行った。また,リアルタイム性を有する無線中継機構を開発し,映像情報と制御情報が混在する通信における制御性能への影響を軽減した。