Basic position/force control of a single-axis arm designed with an ultrasonic motor

Fusaomi Nagata, Keisuke Ogiwara, Keigo Watanabe

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Recently, many studies on assist robots have been conducted in which the development of a unique system is required to support elderly people, physically handicapped people, and/or care givers. One typical system is called the assist suit, which has been used on a trial basis. The assist suit is a mechatronics device which can assist physical human actions. However, the current assist suit has a few problems with respect to cost, size, weight, endurance, and so on. This article describes a fundamental study concerning a compact assist device. The assist device supports one spot on the body, such as a knee, an elbow, or a shoulder. First, a simple single-axis arm was designed using an ultrasonic motor which can generate a high torque from a low velocity range. Then a servo-system, a torque control system, and a passive torque control system were designed and their characteristics were evaluated. In addition, the stability of the servo-system was analyzed. Here, the passive torque control includes a stiffness control and a compliance control.

Original languageEnglish
Pages (from-to)102-106
Number of pages5
JournalArtificial Life and Robotics
Volume16
Issue number1
DOIs
Publication statusPublished - Jun 2011

Fingerprint

Torque control
Force control
Torque
Position control
Ultrasonics
Arm
Servomechanisms
Compliance control
Equipment and Supplies
Control systems
Mechatronics
Durability
Disabled Persons
Elbow
Stiffness
Robots
Caregivers
Compliance
Knee
Weights and Measures

Keywords

  • Assist device
  • Passive torque control
  • Servo-system
  • Step response
  • Torque control
  • Ultrasonic motor

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biochemistry, Genetics and Molecular Biology(all)

Cite this

Basic position/force control of a single-axis arm designed with an ultrasonic motor. / Nagata, Fusaomi; Ogiwara, Keisuke; Watanabe, Keigo.

In: Artificial Life and Robotics, Vol. 16, No. 1, 06.2011, p. 102-106.

Research output: Contribution to journalArticle

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