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Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. In contrast, digital acceleration control (DAC) is robust against these modeling errors by nonlinear terms. DAC requires information of...
The goal of this research is to realize a new type of physical human-machine interface. In this research, active polyhedron can treat virtual three dimensional continuums having many force output points. Active 80-faced polyhedron can treat virtual objects that are more complex than active icosahedron which was previously developed. Towards realizing the overall hardware parts, 120 pieces of new and...
The importance on walking for health is growing in elder dominated society. We have been developing a new mobility ldquoTread-Walk 1 (TW-1)rdquo controlled by walking movement. The device uses active treadmill velocity control, which allows the user to walk on the treadmill at any desired velocity. In this paper, the walking movements on the TW-1 were kinematically analyzed and compared with the walking...
Real-world haptics is the key technology for future haptic communication engineering. In this technical point of view, this paper proposes a ldquohaptic scannerrdquo for processing of haptic information. The experimental haptic scanner system is composed of two degree-of-freedom master-slave system. The haptic scanner acquires haptic information on the environmental surface; and the haptic information...
Single phase active power filters are effective to compensate harmonics for home appliance and office equipment. Single phase active power filters, however, have some problems. The one of the problems is current control for high frequency components, because coordinate transform can not be applied to single phase system. In this paper, a new current control method suitable for single phase inverter...
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