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Fault Tolerance Micro-manipulation System and Its Application to Teleoperation Tasks

Research Project

Project/Area Number 16560230
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTokai University

Principal Investigator

YAMAMOTO Yoshio  Tokai University, School of Engineering, Professor, 工学部, 教授 (20272114)

Co-Investigator(Kenkyū-buntansha) KOGANEZAWA Koichi  Tokai University, School of Engineering, Professor, 工学部, 教授 (10178246)
Project Period (FY) 2004 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥3,800,000 (Direct Cost: ¥3,800,000)
Fiscal Year 2005: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 2004: ¥3,100,000 (Direct Cost: ¥3,100,000)
Keywordsmicro manipulation task / micro manipulation / teleoperation / force feedback / haptic interface / 微細作業装置 / 遠隔制御 / フォルトトレランス / ハプティックフィードバック / 仮想現実
Research Abstract

Efficacy of force feedback in a micro manipulation system has been widely recognized. However, the fact that a practical application is yet to be seen is due to the following two major reasons : (I) lack of means to provide a stable force feedback signals, (II) lack of means to realize a teleoperation even under the presence of communication delay. The current study is aimed at dealing with these problems under the scenario of micro manipulation. In order to deal with (I), we propose to apply the concept of "fault tolerance" by utilizing redundant sensing means. By doing so, a faulty sensor can be backed up by a secondary sensor so that the operation side can keep receiving force signals without interruptions. (II) is coped with by means of the virtual model which mimics an operational probe of the micro manipulation system. The virtual model enables the operator to accomplish manipulation tasks according to a reaction force reflected from the model rather than from the actual system. The biggest advantage of adopting such a virtual model is the absence of time-delay. If the force feedback signal is created based on the real force measurement, the communication time-delay becomes substantial so that the operator can hardly execute manipulation tasks.
We have conducted actual teleoperation experiments in which a haptic device (PHANToM) was used to operate the micro manipulation system over the Internet. TCP and UDP were tested for comparison purposes and it was found that UDP serves better for our purpose. We also verified that the virtual model is extremely useful so that even novice user can handle the micro manipulation system under teleoperation. In addition, a new mechanism was introduced to enhance the functionality of the micro manipulation system. Offset planar hinge link mechanism was adopted to provide a posture control of the probe.

Report

(3 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • Research Products

    (19 results)

All 2005 2004

All Journal Article (19 results)

  • [Journal Article] Development of Concentric Micro Manipulation System2005

    • Author(s)
      Y.Yamamoto
    • Journal Title

      Proceedings of the 2005 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics

      Pages: 396-401

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] マイクロ・マニピュレーションシステムにおけるプローブ姿勢制御2005

    • Author(s)
      山本, 野田, 杉崎
    • Journal Title

      ロボティクス・メカトロニクス講演会講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] オフセット型平面ヒンジリンク機構を用いた微細作業システム2005

    • Author(s)
      野田紳介, 山本佳男
    • Journal Title

      第23回日本ロボット学会学術講演会講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 微細作業装置の高機能化に関する研究 (第1報 : オフセットヒンジ型リンク機構の適用)2005

    • Author(s)
      杉崎, 野田, 山本
    • Journal Title

      日本機械学会関東支部代11期総会講演会講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 微細作業システムによる遠隔操作実験2005

    • Author(s)
      関, 荒川, 山本
    • Journal Title

      日本機械学会関東支部代11期総会講演会講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Development of Concentric Micro Manipulation System2005

    • Author(s)
      Yoshio Yamamoto
    • Journal Title

      Proceedings of the 2005 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics

      Pages: 396-401

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Probe Posture Control in Micro Manipulation System2005

    • Author(s)
      Y.Yamamoto, S.Noda, M.Sugizaki
    • Journal Title

      Proceedings of 2005 JSME Conference on Robotics and Mechatronics

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Micro Manipulation System Using Offset Planar Hinge Mechanism2005

    • Author(s)
      S.Noda, Y.Yamamoto
    • Journal Title

      Proceedings of Annual Conference of Robotics Society of Japan

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] High Performance Realization of Micro Manipulation System (1^<ST> Report : Application of Offset Hinge Link Mechanism)2005

    • Author(s)
      M.Sugizaki, S.Noda, Y.Yamamoto
    • Journal Title

      Proceedings of 2005 Annual Conference of JSME Kanto Region

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Teleoperation Experiments of Micro Manipulation System2005

    • Author(s)
      T.Seki, M.Arakawa, Y.Yamamoto
    • Journal Title

      Proceedings of 2005 Annual Conference of JSME Kanto Region

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Development of Concentric Micro Manipulation System2005

    • Author(s)
      山本 佳男
    • Journal Title

      Proc.of 2005 IEEE/ASME Int.Conf.on Advanced Intelligent Mechatronics

      Pages: 396-401

    • Related Report
      2005 Annual Research Report
  • [Journal Article] マイクロ・マニピュレーションシステムにおけるプローブ姿勢制御2005

    • Author(s)
      山本 佳男
    • Journal Title

      Proc.of 2005 JSME Conference on Robotics and Mechatronics (ROBOMEC' 05)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Mechanical Stiffness Control for Antagonistically Driven Joints2005

    • Author(s)
      小金澤 鋼一
    • Journal Title

      Proc.of 2005 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems

      Pages: 2512-2519

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Hyper-Redundant Manipulator Using Compound Three-Bar Linkages2005

    • Author(s)
      小金澤 鋼一
    • Journal Title

      Journal of Mechanical Science and Technology 19, 1

      Pages: 320-327

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 微細作業装置の高機能化に関する研究(第1報)2005

    • Author(s)
      杉崎, 野田, 山本
    • Journal Title

      日本機械学会関東支部第11期総会講演会講演論文集

      Pages: 343-344

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 微細作業システムによる遠隔操作実験2005

    • Author(s)
      関, 荒川, 山本
    • Journal Title

      日本機械学会関東支部第1期総会講演会講演論文集

      Pages: 345-346

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Development of Concentric Micro Manipulation System2005

    • Author(s)
      Yoshio Yamamoto
    • Journal Title

      Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2005 (予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 力覚フィードバック型マイクロマニピュレーションシステムにおける遠隔操作実験2004

    • Author(s)
      荒川, 根岸, 山本
    • Journal Title

      ロボティクス・メカトロニクス講演会講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Teleoperation of Force Feedback Micro Manipulation System2004

    • Author(s)
      M.Arakawa, Y.Negishi, Y.Yamamoto
    • Journal Title

      Proceedings of 2004 JSME Conference on Robotics and Mechatronics

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary

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Published: 2004-04-01   Modified: 2016-04-21  

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