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In this study, we developed a 4-degrees of freedom (DOF) force feedback device independent of its operational component comprising pneumatic artificial muscles and magnetorheological clutches. Research and development of force feedback devices is becoming popular in fields such as entertainment, remote operation, and rehabilitation. These areas of research are related to virtual reality and augmented...
We have developed an exclusive planetary subsurface explorer robot with propulsion and excavation units. In this paper, we first explain the concept of our underground explorer robot. Next we develop an excavation unit with a tapered earth auger and a propulsion unit with dual pantograph. Several experiments are performed to demonstrate these features. Finally, we develop a subsurface explorer robot...
Induction motor in place of DC one has been applied widely for DC electric rolling stock, because of the advantage of its utility and efficiency. However, further improvement of motor characteristics is crucial in order to realize environment-friendly DC railway system in the future. It is important to study more efficient machine; applying DC electric rolling stock for the next generation high performance...
A master-slave system has been used to operate a robot. This system is necessary to communicate human intentions to the robot. In this context, we focus on Myo-Electric (ME) potential. In many previous studies, a motor is used as an actuator, and the torque and position are estimated from the ME potential. However joint stiffness, which humans can change, is not considered. It is possible to solve...
In recent years, robots have been used in medicine and everyday life. Therefore, it is desirable that these robots be flexible and lightweight. For this reason, we have studied and developed straight-fiber-type artificial muscles derived from McKibben-type muscles, which have excellent contraction rate and force characteristics. Last year, we developed a manipulator with six degrees of freedom using...
A reliable control method is proposed to cope with an unstable fluctuation caused by a loop failing in a multiple-loop control system. In this study, reliable control was applied to a Position servo system that was made to examine the reliable control method in an industrial machine and study its characteristics. The system uses an equivalent transfer function (ETF) for active redundancy compensation...
Robots have become an integral part of human life, and the relationship between humans and robots has grown closer. Thus, it is desired that robots have characteristics similar to humans. In this context, we paid attention to an artificial muscle actuator. We used straight-fiber-type artificial muscles, derived from the McKibben type, which have excellent characteristics with respect to the contraction...
A reliable control method is proposed for multiple loop control systems. If a feedback loop fails (e.g., as a result of a sensor breakdown), the control system develops an unstable fluctuation. To cope with this problem, the proposed method uses an equivalent transfer function (ETF) for active redundancy compensation after loop failure. The ETF is used to maintain the transfer function of the entire...
Robots have entered human life, and closer relationships are being formed between humans and robots. It is desirable that these robots be flexible and lightweight. For this reason, we studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles, which have excellent contraction rate and force characteristics. However, these...
This paper presents the performance of high temperature superconducting induction/synchronous machine (HTS-ISM) based on the nonlinear electrical equivalent circuit. The structure of the HTS-ISM is the same with that of the squirrel-cage type induction machine, and the secondary windings are fabricated by the use of the HTS wires. It has already been shown based on the analysis and experiments that...
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