| 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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