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ID 33070
フルテキストURL
著者
Takaiwa, Masahiro Faculty of Engineering, Okayama University
Noritsugu, Toshiro Faculty of Engineering, Okayama University
抄録
When humans and robots implement a cooperative task, information (intention) transfer between them is an important problem as the task becomes complicated. In the paper, a haptic interface using a pneumatic parallel manipulator is developed to realize “information transfer by means of contact”. The contact information given by the human, namely contact force vector and contact point on the manipulator, is detected by the interface itself and such information is transferred to the robot by being connected with some reference signal. The pneumatic parallel manipulator works as a kind of elastic body even when its position is controlled owing to the air compressibility. Focusing on this characteristic and introducing an idea of compliance center with a spherical shell, contact force vector and contact point are detected without a force sensor. The validity of the proposed method is confirmed through some experiments.
キーワード
Haptic Interface
Pneumatic Driving System
Parallel Manipulator
Elastic Characteristic
備考
Digital Object Identifier: 10.1109/AIM.1999.803164
Published with permission from the copyright holder. this is the institute's copy, as published in Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on, 19-23 Sept. 1999, Pages 185-190.
Publisher URL:http://dx.doi.org/10.1109/AIM.1999.803164
Copyright © 1999 IEEE. All rights reserved.
発行日
1999-09
出版物タイトル
Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版者
Institute of Electrical and Electronics Engineers
開始ページ
185
終了ページ
190
NCID
BA48069713
資料タイプ
学術雑誌論文
言語
English
OAI-PMH Set
岡山大学
著作権者
IEEE
イベント
1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
イベント地
Atlanta, GA , USA
イベント開催日
1999-09
論文のバージョン
publisher
査読
有り
DOI
Submission Path
mechanical_engineering/10