著者

佐野 嘉則 堀 貴之 早川 拓人 藪田 哲郎

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:18848354)

巻号頁・発行日

vol.78, no.790, pp.2171-2186, 2012 (Released:2012-06-25)

参考文献数

11

---

It is one of great functions required for a robot to perform a task instead of a human. Particularly, if a human skilled task is realized to a robot, and moreover it might be applied widely, it is possible for a robot to accept many demands. Here, we adopt the yoyo manipulation as a skilled task with the limber motion of the human upper limbs, which is intended to realize with a 9DOF redundant finger-arm robot system. Unlike conventional method using the yoyo dynamic model, human skills in the yoyo manipulation are extracted by measuring the yoyo operation of a human being with a motion capture system, and are implemented to the robot system. In this way, the yoyo operation can be performed by the robot whose results are friendly understood as human being knowledge. Furthermore, this study tries without a vision sensor, as it were, in the blindfold. Here, we show that continued control of the yoyo can be obtained using both force sensor and position control in its difficulty condition.

著者

藪田 哲郎 松本 俊明 根岸 幸康

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌. B (ISSN:03854213)

巻号頁・発行日

vol.100, no.3, pp.137-144, 1980-03-20 (Released:2008-12-19)

参考文献数

5

著者

原 正之 樋口 貴広 藪田 哲郎

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.39, no.12, pp.1162-1164, 2003-12-31 (Released:2009-03-27)

参考文献数

5

被引用文献数

1 3

---

Perceptual illusion that is apparent in real-world environment does not result from human-error but from brain's functions that support perception. The present study demonstrated the effectiveness of our haptic interface to produce haptic illusion in virtual environment.

著者

大野 巧真 豊田 希 藪田 哲郎

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2012 (ISSN:24243124)

巻号頁・発行日

pp._2A1-B10_1-_2A1-B10_2, 2012-05-27 (Released:2017-06-19)

---

It is difficult to obtain stable motion arm movement only using a feedback controller because this method must use high gain feedback to achieve accurate motion in early stage of learning. Therefore, motion learning mechanism of human being's arm is explained by both feed-forward controller using internal-error learning method and visco-elasticity adaptation mechanism. This study applies this assumption to both muscle potential and its frequency characteristics show possible verification of visco-elasticity adaptation mechanism.

著者

樋渡 勇太朗 松永 和輝 豊田 希 藪田 哲郎

出版者

The Institute of Electronics, Information and Communication Engineers

雑誌

電子情報通信学会論文誌 D (ISSN:18804535)

巻号頁・発行日

vol.J96-D, no.4, pp.1085-1088, 2013-04-01

---

目隠しラバーハンド錯覚において,被験者の右手人差し指のタッチと左手へのタッチによる触刺激を同期して与えた方が,非同期で与えるよりも錯覚を誘発すると報告されているが,この刺激のずれは定量的に計測されてはいない.本論文では,ハプティックデバイスを用いて実験を行い,刺激の時間遅れを変化させ錯覚の感度を比較し,ずれによる影響を計測することができたので報告する.

著者

芦高 直哉 原 正之 反保 紀昭 黄 健 藪田 哲郎

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.75, no.752, pp.1000-1008, 2009-04-25

被引用文献数

2

---

Multimedia services such as an audio and visual media have been advanced rapidly. And now we can employ several multimedia services via the Internet in which audio and visual information is exchanged. In addition to them, physical force information is expected as the next multimedia service. However, there are several fundamental issues for interactive force telecommunication, which do not appear in the conventional teleportation. We study on basic issues of force telecommunication from human sensory aspect by using two haptic interfaces with 3' DOF that have an orthodox parallel linkage, and propose a hybrid control of Master/Slave system for force telecommunication between Human beings, which has position/force feedback loop directly. Results show that both hybrid and compliance control of Master/Slave System are suitable candidates for the force telecommunication system because both force and position serve functions are essential for the system. Moreover, recognition of an operator coordinate system is clarified to be important because of force communication strong interaction, which is discussed from human sensory aspect.