The Research on Human Robot Interface Enabled with High Bandwidth Force Servoing for Manipulation of Robotic Arm
| Project/Area Number |
15K18009
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Waseda University |
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Principal Investigator |
WANG Wei 早稲田大学, 理工学術院, 助教 (10598915)
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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 |
¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2016: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2015: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
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| Keywords | ヒューマン・ロボット・インタフェース / force control |
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| Outline of Final Research Achievements |
In this research we developed a Human-robot interface enabled with high bandwidth force servoing for robotic arm manipulation. There are several commercial-available haptic interface devices for user interaction, however, their bandwidth is limited to servo real force with high frequency components, thus limit their usage in more delicate tele-manipulation tasks. thus we developed a force servoing technology that could achieve a high bandwidth performance, implemented critically based on "new material based series elastic actuation" and "high resolution torque sensing". A impedance shaping method was also developed to evaluate advantages of our proposed method.
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Report
(3 results)
Research Products
(8 results)
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[Presentation] A Concept for a Robot Arm with an Adjustable Series Clutch Actuators and Passive Gravity Compensation for Enhanced Safety2015
Author(s)
Schmitz, A., Bhavaraju, S., Somlor, S., Aguirre Dominguez, G., Kamezaki, M., Wang, W. and Sugano, S.
Organizer
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2015)
Place of Presentation
Busan, Korea
Year and Date
2015-07-07
Related Report
Int'l Joint Research
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