| ID | 33065 |
| フルテキストURL | |
| 著者 | |
| 抄録 | <P>The goal of this study is to develop a mechanical system which display elastic characteristic like stiffness on the surface of human body aiming at applying to palpation simulator. Pneumatic parallel manipulator is employed as a driving mechanism, consequently, it brings capability of minute force displaying property owing to the air compressibility. Compliance control system without using force/moment sensor is constructed by introducing a disturbance observer and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally. |
| キーワード | compliance control
compressibility
display devices
elastic constants
manipulators
observers
pneumatic actuators
|
| 備考 | Digital Object Identifier: 10.1109/ROBOT.2003.1242227
Published with permission from the copyright holder. this is the institute's copy, as published in Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, 14-19 Sept. 2003, Volume 3, Pages 4098-4103. Publisher URL:http://dx.doi.org/10.1109/ROBOT.2003.1242227 Copyright © 2003 IEEE. All rights reserved. |
| 発行日 | 2003-09-13
|
| 出版物タイトル |
Robotics and Automation
|
| 巻 | 3巻
|
| 開始ページ | 4098
|
| 終了ページ | 4103
|
| 資料タイプ |
学術雑誌論文
|
| 言語 |
英語
|
| 査読 |
有り
|
| DOI | |
| Submission Path | mechanical_engineering/13
|
