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 language | English |
|---|---|
| Title of host publication | Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 |
| Pages | 383-386 |
| Number of pages | 4 |
| Publication status | Published - 2011 |
| Event | 16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan Duration: Jan 27 2011 → Jan 29 2011 |
Other
| Other | 16th International Symposium on Artificial Life and Robotics, AROB '11 |
|---|---|
| Country | Japan |
| City | Beppu, Oita |
| Period | 1/27/11 → 1/29/11 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
Cite this
Basic position/force control of single-axis arm designed with an ultrasonic motor. / Ogiwara, K.; Nagata, F.; Watanabe, Keigo.
Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. p. 383-386.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Basic position/force control of single-axis arm designed with an ultrasonic motor
AU - Ogiwara, K.
AU - Nagata, F.
AU - Watanabe, Keigo
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
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M3 - Conference contribution
SN - 9784990288051
SP - 383
EP - 386
BT - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
ER -