著者

山崎 容次郎 横川 隆一 積際 徹 原 敬

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.74, no.740, pp.867-875, 2008-04-25 (Released:2011-03-04)

参考文献数

17

被引用文献数

2 4

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This paper proposes a new switching method of control mode for a robot manipulator coming in contact with environment that has elasticity. First, the basic concept of the switching of the control mode in a robot manipulator is explained. Second, we propose a new method of switching the control mode that selects the control mode at the intersection of “Characteristic curve of position and force” and “Target value of the work composed by the desired value of position and force”. Next, the switching algorithm based on this method is obtained about a certain work coordinate with a Multi-DOF robot manipulator. In this paper, the switching method is named “A Method for Switching Control Mode Based on Position and Force Errors”. Furthermore, when a One-DOF robot manipulator driven by DC servo motor with reduction gears using an elastic joint came in contact with the object that has elasticity, the simulation and the experiment on various angle and torque controls were done. As a result, it is shown that the proposed switching method is useful and has stable and flexible characteristics.

著者

積際 徹 本元 泰穂 横川 隆一

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.82, no.841, pp.16-00010, 2016 (Released:2016-09-25)

参考文献数

23

被引用文献数

2 3

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The objective of this study was to develop a motion analysis system to evaluate relations between the activation of the lower limb muscles, the pedal force and the movement of the lower limb during the pedaling motion. To confirm the effectiveness of the proposed analysis system, we analyzed the pedaling motion of nine cyclists to identify their pedaling skill. In the experiments, cyclists were instructed to perform their pedaling technique at two pedaling rates (80-90 rpm and 110-120 rpm). Surface electromyography (EMG) signals was recorded from tensor of latae (TFL), rectus femoris (RF), hamstrings (HAM) and gastrocnemius (GAS), and pedal force was measured by a power meter (Pioneer Corporation). Furthermore, the lower limb motion during the pedaling was measured using a 3D motion capture system to investigate the relations among measured data as mentioned above. The experimental results show that the proposed analysis system reveals the pedaling skill of cyclists and the relations between the EMG data, the pedal force and the movement during the pedaling motion. In this paper, firstly, the activation section of the lower limb muscles during the pedaling was determined quantitatively. Secondly, Tukey-Kramer test was conducted to determine whether there are significant differences (p < 0.05) between the pedaling effectiveness of the three groups (elite group, amateur group and beginner group). Finally, the pedaling skill of the cyclists was revealed based on the analysis results of the measurement experiments.

著者

森川 翔太 積際 徹 横川 隆一

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.80, no.816, pp.DR0234-DR0234, 2014 (Released:2014-08-25)

参考文献数

23

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The objective of this study is to develop the wearable haptic device having widely operating range and highly efficient dynamic characteristics of the end-effector located on the tip of the haptic device. The conventional haptic device displays pseudo translational force to the operator's hand. However, there is a problem that the dynamic characteristics of the end-effector of these devices are restricted to the response of motion of the actuator. To improve the dynamic characteristics of the end-effector, the variable structure control which is able to choose either connection or disconnection between the actuator and the end-effector is developed. The proposed system controls (opens or closes) the hinge mechanism, so that the actuator and the end-effector can be connected or disconnected depending on the opened or closed status of the hinge mechanism. Accordingly, we develop the control system including the coordinate transformation of the displaying force using the angle sensor by taking into account large range of motion in the end-effector. To confirm the effectiveness of the proposed control method, experiments of force display for human operators were carried out. The experimental results show that the proposed system is able to improve the dynamic characteristics of the end-effector and to amplify the operating range of the hand motion in the force non-displayed condition.