| Project/Area Number |
15K13922
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Yokohama National University |
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Principal Investigator |
KAWAMURA ATSUO 横浜国立大学, 大学院工学研究院, 教授 (80186139)
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Keywords | アクチュエータ / ハプティクス / バイラテラル / リニアアクチュエータ / 2次元触覚器 / ソレノイド |
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| Outline of Final Research Achievements |
The essence of this research can be summarized as follows. (1) As a unit element of the 2D surface haptics actuator, a new position senseless scheme was proposed, and the fast estimation of force and position was realized by the improvement of filters and circuits. As a result the cut off frequency of arroximately10 Hz was achieved as for the position response. (2) A bilateral control of the position and force was realized using two of unit elements of above mentioned haptics actuators. (3) A theoretical analysis of the plural actuators is performed and the basic characteristics are clarified. (4) A prototype of 2D actuator was constructed, but the size became large. (5) As for candidate of a small actuator, one stator and 2 stators type small actuator was experimentally constructed. The size is 4 mm length, 4 mm width and 28 mm height.
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