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The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a passive element (braking effort) whose characteristics are variable. In this paper, the PDC is applied to a rotary pneumatic actuator. First, the rotary pneumatic actuator equipped with an electromagnetic brake and a sensor for applying the PDC is proposed, and its control...
Low back pain (LBP) is the serious problem in the field of nursing care. We have developed the HAL for lumbar support in order to reduce the lumbar load. For practical use, it is important to save energy of HAL. The purpose of this study is to develop HAL equipped with passive mechanism in order to reduce the power consumption of the HAL, and to verify the effectiveness of saving energy of HAL equipped...
A wearable elbow joint with three passive joints is proposed in this paper. The joint has an advantage of easy attachment to a human arm, without thorough adjustment when attached. This paper describes kinematics, statics and a prototype of the proposed joint, and then reports results of preliminary evaluation.
The advantages of using force control in industrial or other type of robotic systems are well known. Study of such systems in virtual environment in the form of simulation is of great help for the design of a controller or a robot. In this paper, we show how to simulate different force control algorithms of a typical serial robot used in the industries before deciding to choose a suitable one for...
Characteristics of bi-articular muscles were analyzed by examining a jumping mechanism inspired by the leg of an animal. Specifically, we proposed a leg mechanism called the pantograph model based on the bi-articular muscle arrangement that is only present in animals. We investigated the motion characteristics of the pantograph model and analyzed the change in motion when the ground reaction force...
Walking is a popular recreation activity. In addition, it is a mild and healthy exercise for the elderly. However, people suffering from physical and / or cognitive disorders have a difficulty in going out and walking in real environments. Therefore we have proposed a virtual walking system with a haptic device on feet. This system consists of visual, sound, and haptic devices to present various kinds...
In position control of mechatronic devices, velocity feedback is necessary for injecting additional damping to avoid low-frequency fluctuation around desired trajectories. In practice, velocity signal is often obtained by performing Euler discretization on position signal from an optical encoder. However, due to the limited encoder resolution, the obtained velocity signal is corrupted by high-frequency...
This paper proposes a novel traction control for a front-wheel drive in-wheel motor electric vehicle. The presented vehicle has advantages on high fuel efficiency and cost effectiveness. In order to achieve specific control performance, this study employed a high speed microcontroller as the vehicle's electronic control unit. The anti-skid function based on a reliable traction control kernel is embedded...
Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constraint forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position / force controller without force sensor is proposed based on the algebraic relation...
This paper proposes a new method to detumble uncontrolled large space debris such as malfunctioning satellites. There are many researches about a space robot capturing and deorbiting space debris. However it is generally very difficult to capture tumbling targets such as the malfunctioning satellites because these targets are out of control in attitude and rotate with nutational motion. Hence we propose...
This paper propose the tire force distribution method for a rear wheel drive electric vehicle. This method is developed to improve the vehicle stability under the high speed cornering condition and save the electric energy. To control the lateral vehicle motion, the desired yaw moment is calculated by yaw rate control using PID theory. And Total desired longitudinal force is also determined by acceleration...
Flocking algorithms for a multi-agent system are distributed algorithms that only have simple rules for each agent but generate complex formational movement. These algorithms are known as swarm intelligence and are robust and disaster tolerant for most cases. On the other hand, most of organizations are constructed from smaller groups, we call it subgroup here. It means activities of organization...
We proposed the downsizing of an optical tactile sensor using an elastic body. This sensor can be used as a tactile sensor of robots. An elastic body, the layers of light, and a camera are used for this sensor. The layers of light use modification of an elastic body as a contour line. A camera captures the contour line. And forces are detected from the obtained picture. In previous research, modification...
The purpose of this study is to develop the supporting system for standing up and sitting down of the elderly people. The feature of the supporting system is to assist the human motion for standing and sitting without any sensors attached to the people. First of all, we measured a human motion of standing by the force plate and a force sensor. As the result, we clarified the feature of a human standing...
Most of robotic systems introduce a directionless neighborhood area, such as a circle or sphere, for robot communication and interaction because it reflects a natural property of some physical sensors and devices. On the other hand, it has reported that some of natural birds employ directional neighborhood for neighbor observation. In this paper, we introduce the directional neighbor to a robotic...
Magnethoreological-fluid (MR-fluid) actuators are consider as as suitable instruments in rehabilitation trainings so that they are passive actuators. Passive actuators will not generate force by themselves. Only when external force acts on them, they generate reaction force. Considering these properties, passive actuators are stable actuators and appropriate for the human society because they would...
Recently, motion control technology is more and more developed. Robots are used not only in industry but also in human society. Hereafter, in order to extend the range of work and kinds of motion, it is needed to think about what human is. As is the case with voice recognition, for human-motion streaming of data also have important meaning. However, motion trajectory and force adjustment are different...
Accurate model is indispensable for high precision control of gap-closing actuators driven by electromagnetic / electrostatic force. For these actuators, it is not easy to identify the precise model all along the motion range, because its mobility region is severely limited due to the pull-in instability. In this paper, an on-line identification method for gap-closing actuators is presented which...
This paper proposes a force redistribution method to compensate for actuator breakdowns on active vibration-isolation tables. The vibration-isolation table is supported by eight pneumatic actuators, and has a redundant number of actuators with respect to the degrees of freedom (DOFs) of the table's motion. When some of the actuators break down, their output forces are re-distributed on the unbroken...
Recently, rehabilitation robots attract much attention both from engineering and medical fields due to their accurate and repetitive training capabilities. Their automated training protocol reduces the loads on clinical staff and helps effective rehabilitation by monitoring the patient's status in a quantitative manner from various sensor measurements. In the control of such robotic systems, back-drivable...
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