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Atomic Force Microscopy (AFM) is a scanning probe microscope with nanoscale resolution as well as an indispensable device for nanotechnology. Since AFM probe physically touches the sample surface, expectations for sample dynamics measurement are raising. One common measurement mode is force curve measurement. In the force curve measurement, atomic force is detected by the spring constant of the cantilever...
This paper proposes novel high accuracy road condition estimation called Tire Grip Margin (TGM), and TGM is estimated by using dual pitman arm type steer-by-wire and lateral force sensor and estimator. In addition, we propose cornering stability control technique based on the TGM. It can help driver and vehicle before unstable state. We verify our proposed system achieves robust vehicle dynamics control...
Accidents caused by automatic doors frequently occur. Infrared sensor or force sensor is often used for automatic doors to detect the presence of a human, and ensure the safety of doors. But in the case of train doors, we can not use infrared sensor and force sensor because of several reasons. In addition, train doors should be gated exactly not to disturb the train services. This paper suggests two...
In recent years world aging population is increasing always more and more. Consequently power assist devices such as electro mechanical suits and electric wheelchair are growing in importance. A key aspect in the control of power assist robots is the knowledge of the force that the user applies on the device. Force sensors are often used even though they are generally expensive, heavy, and can measure...
This paper reveals the advantage of the biarticular muscle which has been said to play an important role in human's motion control and applies it to the robot manipulator control. Biarticular muscle changes the energy flow in muscles resulting in efficient motion and help stabilizing the posture of the human body. These advantages are analyzed and reflected to the control of a robot manipulator. In...
This paper describes an extended manipulability measure for robot arm based on bi-articular muscle principle. There are several manipulability measures for serial link manipulator. However they can not be applied for manipulators which has animal-like actuator alignment. Bi-articular muscle is an unique actuator of animals. It connects two joints and drives both simultaneously. Conventional measures...
A new traction control which utilizes the maximum transmissible torque estimation (MTTE) scheme to execute the anti-slip control of electric vehicles is proposed in this study. Since the function of embedded knowledge mechanism, the chassis velocity and information about tire-road conditions is unnecessary. A closed-loop observer with disturbance estimation performance is employed to enhance the steering...
This paper suggests two advantages of the biarticular muscle which has been said to play an important role in human's motion control; one is stiffness direction stabilization of an end effector which results in stabilization of the posture, and the other is inertia matrix diagonalization in the dynamics of a robot manipulator. In order to analyze these characteristics, we adopt three-pair six-muscle...
This paper describes a novel design of robot arm and its experimental verification. The proposed robot arm has a bi-articular driving mechanism. The bi-articular driving mechanism drives both shoulder and elbow joints simultaneously like a bi-articular muscles of animals. The mechanism is built by timing belt and pulleys. The proposed robot arm mimics human upper arm with 3 DC motors working as three...
Motor control to assist human force without a force sensor is designed based on two-degree-of-freedom control theory. First force sensor-less power assist control is designed and its robustness is analyzed. Then it is incorporated with the reference tracking control using the two degree-of-freedom control. The proposed control can design the motion with regarding to the reference and the motion with...
This paper proposes a novel algorithm to detect information of time delay and inertia errors of the nominal model in the disturbance observer. The proposed method adopts the hidden Markov model to relate the states causing disturbances with the observed disturbances. Output distribution of the hidden disturbance state can be defined based on the relationship between the observed disturbance and time...
This paper presents a new control design method to solve the problem of uncertain friction compensation in robot joint control. A friction force observer is designed using local models of friction interpolated by mean of weighting functions. The estimated friction is used in a minor loop for a compensation purpose and the resulting dynamics after compensation are considered for the synthesis of robust...
Controlling an immeasurable state with an indirect control input is a difficult problem faced in traction control of a vehicle. Research on motion control of electric vehicles has progressed considerably, but anti-slip control has not been so sophisticated and practical because of this difficulty. Therefore, this work takes advantage of the features of motors to estimate the maximum friction force...
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