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

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

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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.