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In this paper, a new impedance control method based on pressure distribution for wearable assist robot on multi-joint part is proposed. Generally, assist robots were designed based on assisting for a simple joint body part of the user such as elbow, knee, limb and so on. These robots can be similar structure to the assisted body part, and they can follow the user's movements. On the other hand, it...
This paper proposes a method to calculate operational force in time-delayed 4-channel bilateral control systems. In 4-channel bilateral control systems, operational force becomes unnecessary force for haptic sense transmission. Under time-delay, it is known that this force becomes larger than the force without time-delay. In this paper, it is shown that new force, communicative operational force,...
This paper gives an introduction to the process of an experimental project in pertaining to the planning and integrating of a human-robot interactive stone carving system. The process includes an analysis of manual stone carving by a professional sculptor, a risk assessment of the projected robotic assistant system resulting in the safety concepts, a design of a tool carrier with force sensors and...
This paper proposes a structure for a position/force hybrid control through network. In the case of most conventional structures, each terminal controller transmits a position/force interactively. Then these terminals calculate acceleration references by themselves. In contrast, our previous research proposed a novel structure for a position/force hybrid control through network. In this approach,...
Bilateral control system has been developed as a method to transmit a tactile sense. It enables human operators to feel as if they were really touching the environment. Teleoperation with the bilateral control has a wide range of application such as telesurgery, deep-sea operation, space mission, etc. However, the presence of the communication delay between master and slave systems degrades performance...
Bilateral control system has been developed as a method to transmit tactile sense in order to be applied to handling radioactive material, operating unmanned underwater vehicles, space robotics, telesurgery, etc. Bilateral control system is able to transmit tactile sense to only one operator. To transmit tactile sense to multiple operators, multilateral control was expanded from bilateral control...
Robotic exoskeletons are wearable robots coupled to the human body, being the human an integral part of the human-robot system. Specifically, the control plays an important role, and stability must be guarantee. Both actors form a close loop with two control systems interacting dynamically. In this regard, a relevant issue is to understand how humans and robots could physically (kinesthetically) interact...
This paper will discuss the design of controllers for systems which must interact dynamically with their environment. The conventional regulator design approach is unsuited to this task. Because the true effect of a controller on physical hardware is to modify its behavior, an alternative perspective is to describe the controlled hardware as an equivalent physical system. This permits the application...
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