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A haptic feedback device is a device that establishes a kinaesthetic link between a human operator and a computer-generated environment. This paper addresses the bidirectional coupling between a commercial off-the-shelf (COTS) haptic feedback device and a general-purpose modelling and simulation environment. In particular, an open-source library is developed to couple the Force Dimension omega.7 haptic...
This paper describes a friction model that enables the simulation of mechanical motion with planar two-dimensional friction. Most existing friction models for control applications are applicable to one-dimensional motion only. The proposed model is derived by extending the conventional friction model, the Dahl model. This is achieved by replacing the scalar quantities in the Dahl model with vector...
This paper proposes a novel design method of disturbance observer (DOB) and reaction force observer (RFOB) for acceleration-based bilateral control (ABC) utilizing DC brushed motor (abbreviated as DC motor later). ABC is one of the control method to enable the transmission of haptic sensation between master and slave robots. In order to transmit highly precise haptic sensation, both DOB and RFOB are...
This paper presents the analysis of force harmonics and eddy current damping for 2 DOF moving magnet linear motor (MMLM), which is utilized in magnetically levitated (maglev) positioning systems. A novel current-force model considering higher-order harmonics is proposed for MMLM in this paper, and this model provides an analytical tool to analyze the force ripple effect in MMLM theoretically. A commutation...
This paper is concerned with the problem of the robust sampled-data H∞ control for an offshore steel jacket platform subject to the self-excited wave force and the external disturbance. First, by using the input delay method, the corresponding closed-loop system with the sampling measurements is transformed into a continuous-time system. Then, based on a Lyapunov functional, the H∞ performance is...
This paper deals with control of a linear magnetic-geared permanent-magnet machine for Archimedes wave swing based wave power generation using maximum power point tracking (MPPT). Firstly, the linear magnetic-geared permanent-magnet generator structure is presented. The machine modeling is established based on finite element analysis (FEA). Secondly, by analyzing the dynamic model of wave power, the...
This paper presents a novel two channel control law for high transparency teleoperation under time delay with guaranteed delay independent L2 stability. Four channel controllers have long been known to provide transparent teleoperation when time delay does not exist on the communication channels. However under time delay, a trade-off between delay and transparency must be made to make the system stable...
This paper focuses on storage and reproduction systems for environmental haptic sensations. A large force vibration is caused by the differential of viscosity momentum in the reproduction system based on force control. To solve this problem, the reproduction system based on momentum control has been proposed in previous our research. The improved reproduction system has a configuration that the momentum...
Recently, the human-robot interaction systems are extending their capability to work in many applications. Appropriate haptic devices or robot systems have an important role to support the collaboration task which require close interaction between human and robot. This paper proposes a novel 3D parallel mechanism delta robot based on Kalman filter based state observer for the haptic devices. In the...
This paper focuses on extending a previously reported technique to convert a desk into a tactile interface. The original technique, based on the so-called "Haptic Desk" enables the detection of an applied force and its contact point by force sensors at the desk's supporting points. Consumer electronics and furniture can be converted into tactile interfaces with the use of this technique...
Bipedal robots capable of various dynamic motions — such as walking, running, and jumping — have been developed in recent years. In particular, these dynamic motions require high power for short durations of time when the robot kicks off the ground. Furthermore, it is necessary to reduce the impact force that a robot is subjected to when landing during these motions. When humans perform similar motions,...
This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades...
In this paper, a control method to improve the static stability of two-wheeled wheel chair is proposed. The two-wheeled wheel chair is the wheel chair without caster wheels, and moves and stabilizes with only two wheels. It has good operability and capability to go over a step. However, two-wheeled wheel chair has difficulty in statical stabilization because of the structure. In this paper, the steering...
The basic structure and null space analysis of 5 DoF implant assist robot for position and angle adjustment is conducted in this paper. The problem of position control using the inverse matrix is the singular postures that make the system unstable. In this paper, the modulated potential field is also extended to 5 DoF robot manipulator for both position adjustment and angle adjustment. It is proposed...
With the increase in aging population of many developed countries, the demand of walking or standing assist device has grown. This paper presents structure and control system of novel assist device, Intelligent Tension Pole (ITP), to assist walking and standing in room considered supporting for self-reliance, space saving, and stability. Two-wheel and one-wheel are added to lower and upper ends of...
This paper presents an approach to stabilization control using image feature tracking for biped walking robot. The authors have developed several vision-based control for dynamic balance and stabilizing the body motion of biped walking robot. For example, the ground reaction force was estimated from visual target position in camera image. However, in our past developments, some landmark object is...
In several previous researches, it was discovered that instantaneous phase is one of the universal features of tasks, especially writing tasks. Therefore, this paper focuses on a force-amplitude/phase control of a 1 degree of freedom system. In this paper, the SISO system is extended into a MIMO system defined in a complex plane by using Hilbert transformation. The amplitude/phase controllers of a...
This paper presents a fabrication method of multi-graphene box structure by a nanomanipulation in a Field Emission Scanning Electron Microscope (FESEM). To bend the multi-graphene in plastic deformation region, the bending stress were measured using a silicon cantilever based on the nanomanipulation. In this study, defects were introduced inside the multi-graphene on the folding line of the multi-graphene...
A cascaded control strategy for an innovative Duo-copter test rig — a helicopter with two rotors combined with a guiding mechanism — is presented in this paper. The guiding mechanism consists of a rocker arm with a sliding carriage that enforces a planar workspace. The Duocopter is attached to the carriage by a rotary joint and offers 3 degrees of freedom. The derived system model has similarities...
Bipedal robot has many advantages to locomotion in complex environments that wheeled robot cannot achieve. However, because of biped robot's complicated mechanism and the naturally unstable system, it is very susceptible to disturbance from the environment and humans in comparison with wheeled robots. Therefore, the prime task for biped robot walking is to maintain dynamic balance and recover from...
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