TY - GEN
T1 - Basic position/force control of single-axis arm designed with an ultrasonic motor
AU - Ogiwara, K.
AU - Nagata, F.
AU - Watanabe, K.
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
AN - SCOPUS:79959675458
SN - 9784990288051
T3 - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
SP - 383
EP - 386
BT - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
T2 - 16th International Symposium on Artificial Life and Robotics, AROB '11
Y2 - 27 January 2011 through 29 January 2011
ER -