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In these days, bilateral control is utilized for remote control such as remote surgery, work in the space, nuclear plants, and so on. A remote system should avoid a hazard region autonomously. This paper proposes a design method of autonomous hazard avoidance controller with selected ratio which consists of 4ch bilateral controller in bilateral teleoperation and hazard avoidance controller. During...
Nowadays, with the coming of population aging, extractions of skilled human motion and human support techniques are needed in medical or production fields. This paper proposes a method for motion extraction and guide based on haptic information. Haptic information includes human action force and position response. Human action force and position response are sensed by using master-slave robot hand...
A flexible actuator is a system applied release mechanism to separate an end-effector and a motor. That is for weight saving and miniaturization of robotic end-effector that are demanded in surgical robots especially. The flexible actuator has stiffness and flexibility. Therefore it transmits force input from the motor to the end-effector, and puts the end-effector on any position against the motor...
In this paper, release is utilized for transmitting driving force from motors to end-effectors. First, for implementing release to bilateral control systems, transmittable frequency of release is clarified experimentally. Second, for knowing the relation between transmittable frequency of release and force sensation, main frequency bandwidth for transmitting force sensation is experimentally analyzed...
In this paper, a method for dividing grasping and manipulating control into grasp plane control and inside grasp plane control is proposed. Grasp plane control is realized by controlling center of gravity (COG) of three end-effectors and posture of the grasp plane. Inside grasp plane control is realized by controlling grasping shape and contact force which exists on the grasp plane. To avoid any danger...
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