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

K. Ogiwara, F. Nagata, K. Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Recently, many studies on assist robots are being conducted, in which the development of a unique system is required to support aged persons, physically handicapped persons and/or caretakers. One of the representative systems is called the assist suit and is partly practiced. 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, long-time run and soon. In this article, a fundamental study concerning a compact assist device is conducted. Where the assist device supports is one spot on the body such as a knee, an elbow and a shoulder. First of all, a simple single-axis arm is designed by using an ultrasonic motor which can generate high torque from a low velocity range. Then, a servo system, a torque control system and a passive torque control system are applied and their characteristics are evaluated. Here, the passive torque control includes a stiffness control and a compliance control.

Original languageEnglish
Title of host publicationProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Pages383-386
Number of pages4
Publication statusPublished - Dec 1 2011
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: Jan 27 2011Jan 29 2011

Publication series

NameProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11

Other

Other16th International Symposium on Artificial Life and Robotics, AROB '11
CountryJapan
CityBeppu, Oita
Period1/27/111/29/11

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Ogiwara, K., Nagata, F., & Watanabe, K. (2011). Basic position/force control of single-axis arm designed with an ultrasonic motor. In Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 (pp. 383-386). (Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11).