著者

鈴木 幸仁 井筒 正義 釜道 紀浩 石川 潤 古田 勝久

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.77, no.776, pp.1413-1428, 2011 (Released:2011-04-25)

参考文献数

10

被引用文献数

2

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There are many researches to identify operator's dynamic characteristics in manipulating human-machine interaction systems. Analyses of operator's dynamic characteristics provide a clue to develop human-friendly systems that assists skill development. However, these researches mainly discuss single hand operations, and there seems to be little researches for two hand (bimanual) operations. To develop useful operational systems, the analyses of operator's dynamic characteristics in bimanual operation are indispensable. This research aims to clarify proficiency of operator's skill in bimanual operation. Concretely, the proficiency is evaluated by using an experimental human-machine interface for bimanual operations that provides three different mechanical impedances. The characteristics of operators are evaluated by tracking performance to references generated randomly and skills to draw geometric patterns in a two dimensional plane. In the experiment, the extent of proficiency was also compared with each other for the three different mechanical impedance models. It has been confirmed that the proposed evaluation method can successfully clarify the extent of proficiency of operators' skills. It was also observed that there was little difference in the extent of proficiency among the three mechanical impedances.

著者

池上 怜士 田邊 頌平 釜道 紀浩

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 2014 (ISSN:24243124)

巻号頁・発行日

pp._1P2-O03_1-_1P2-O03_4, 2014-05-24 (Released:2017-06-19)

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This paper describes a motion control method for a capsule-type robot which consists of an outside capsule and a movable inner mass. To realize efficient motions, we propose a motion algorithm utilizing friction characteristics and collision phenomena. Proposed methods are investigated by theoretical analysis and numerical simulations.

著者

木村 佳史郎 釜道 紀浩

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.83, no.856, pp.17-00328-17-00328, 2017 (Released:2017-12-25)

参考文献数

15

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An ionic polymer-metal composite (IPMC) actuator is an electric driven soft actuator. It is fabricated by chemically plating metal on both surface of an ion-exchange membrane. It is able to be activated by a simple driving circuit and low applied voltage (0.5-3 V). However, a precise control of the IPMC actuator is difficult because of individual difference and characteristics changes from environmental conditions. To solve this problem, we applied the stochastic ON/OFF controllers to the integrated IPMC actuator with parallel connections. The controller consists of a central controller and distributed controllers. The central controller broadcasts a control signal as an error signal to distributed controllers uniformly. The distributed controllers switch the ON/OFF states based on the broadcasted signal stochastically. The central controller dose not measure the states of each IPMC actuator, and the control signals is calculated by using the output signal of the integrated actuator and reference signal. The validity of the applied methods was investigated through numerical simulations and experiments of displacement control. The proposed method was demonstrated to be useful as in the case that some actuator elements fail.