Development of an Intuitive Object Handling System based on a Fusion of Haptic and Actuator Technologies

• Project/Area Number: 18360117
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Tokyo
• Principal Investigator: HIGUCHI Toshiro The University of Tokyo, 大学院・工学系研究科, 教授 (10111569)
• Co-Investigator(Kenkyū-buntansha): 山本 晃生 東京大学, 大学院・工学系研究科, 准教授 (40313035)
• Co-Investigator(Renkei-kenkyūsha): YAMAMOTO Akio 東京大学, 大学院・工学系研究科, 准教授 (40313035)
• Project Period (FY): 2006 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥17,370,000 (Direct Cost: ¥14,700,000、Indirect Cost: ¥2,670,000); Fiscal Year 2008: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000); Fiscal Year 2007: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000); Fiscal Year 2006: ¥5,800,000 (Direct Cost: ¥5,800,000)
• Keywords: 人間機械システム / 非接触浮上 / 静電浮上 / 磁気浮上 / ゼロパワー浮上 / 力覚提示 / ピック・アンド・プレース作業 / アクチュエータ / 力覚呈示 / ハプティックデバイス / 搬送 / 組み立て / ハプティクス

Research Abstract

本研究は, バーチャルリアリティの分野で多く用いられている力覚提示技術を, 非接触浮上技術と実世界において統合的に用いることで, 直感的な非接触ハンドリングを実現することをめざして実施した. 磁気浮上および静電浮上が最も不安定となるピック・アンド・プレース作業が力覚の補助によりきわめて直感的かつ安定に実現できることを示したほか, 浮上システム全体をユーザ操作と連動して傾斜させることにより安定かつ高速な水平物体搬送が可能となることを示した.

Research Products

• [Journal Article] Transportation of a Thin Sheet Metal Disk using Magnetic Levitation and Tilt Control (2009)
  • Author(s): E. van West, A. Yamamoto, T. Higuchi,
  • Journal Title: Proc. 2009 IEEE International Conference on Mechatronics MF-003301 Pages: 6-6
  • Peer Reviewed
• [Journal Article] Automatic Object Release in Magnetic and Electrostatic Levitation Systems (2009)
  • Author(s): E. van West, A. Yamamoto, T. Higuchi
  • Journal Title: Precision ngineering 33-3 Pages: 217-228
  • NAID: 10029041238
  • Peer Reviewed
• [Journal Article] Manipulation of Thin Objects Using Levitation Techniques, Tilt Control, and Haptics (2009)
  • Author(s): E. van West, A. Yamamoto,T. Higuchi
  • Journal Title: IEEE Transactions on Automation Science and Engineering 印刷中(印刷中 掲載確定)
  • Peer Reviewed
• [Journal Article] Transportation of Hard Disk Media Using Electrostatic Levitation and Tilt Control (2008)
  • Author(s): E. van West, A. Yamamoto, T. Higuchi
  • Journal Title: Proc. 2008 IEEE International Conference on Roboticsand Automation Pages: 755-760
  • Peer Reviewed
• [Journal Article] Development of SCARA-Type Haptic Device for Electrostatic Non-Contact Handling System (2008)
  • Author(s): E. van West, A. Yamamoto, B. Burns, T. Higuchi
  • Journal Title: Journal of Advanced Mechanical Design, Systems, and Manufacturing 2-2 Pages: 180-190
  • NAID: 130000080766
  • Peer Reviewed
• [Journal Article] Automatic Object Release in Magnetic and Electrostatic Levitation Systems (2008)
  • Author(s): E. van West, A. Yamamoto, T. Higuchi
  • Journal Title: Precision Engineering (online article) (印刷雑誌には2009年7月号掲載予定) 1(Internet)
  • NAID: 10029041238
  • Peer Reviewed
• [Journal Article] Development of SCARA-Type Haptic Device for Electrostatic Non-Contact Handling System (2008)
  • Author(s): E. van West, A. Yamamoto, B. Burns, T. Higuchi
  • Journal Title: Journal of Advanced Mechanical Design, Systems, and Manufacturing 2 (2) Pages: 180-190
  • NAID: 130000080766
  • Peer Reviewed
• [Journal Article] Transportation of Hard Disk Media Using Electrostatic Levitation and Tilt Control (2008)
  • Author(s): E. van West, A. Yamamoto, T. Higuchi
  • Journal Title: Proceedings of 2008 IEEE International Conference on Robotics and Automation 1 Pages: 755-760
  • Peer Reviewed
• [Journal Article] Non-contact Handling of Hard-Disk Media by Human Operator Using Electrostatic Levitation and Haptic Device (2007)
  • Author(s): E. van West, A. Yamamoto, B. Burns, T. Higuchi
  • Journal Title: Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 1106-1111
  • Peer Reviewed
• [Journal Article] The Concept of "Haptic Tweezer", a Non-ContactObject Handling System Using LevitationTechniques and Haptics Mechatronics (2007)
  • Author(s): E. van West, A. Yamamoto, T. Higuchi
  • Journal Title: Mechatronics 17-7 Pages: 345-356
  • Peer Reviewed
• [Journal Article] Development of SCARA-type Haptic Device (2007)
  • Author(s): E. van West, A. Yamamoto, B. Burns, T. Higuchi
  • Journal Title: Proc. JSME-KSME Joint International Conference on Manufacturing, Machine Design and Tribology D09 Pages: 8-8
  • Peer Reviewed
• [Journal Article] Pick and Place of Hard Disk Media using Electrostatic Levitation (2007)
  • Author(s): E. van West, A. Yamamoto, T. Higuchi
  • Journal Title: Proc. 2007 IEEE International Conference on Robotics and Automation Pages: 2520-2525
  • Peer Reviewed
• [Journal Article] The Concept of Haptic Tweezer, a Non-Contact Handling System Using Levitation Techniques and Haptics Mechatronics (2007)
  • Author(s): Ewoud van West, Akio Yanamoto, Toshiro Higuchi
  • Journal Title: Mechatronics 17-7 Pages: 345-356
  • Peer Reviewed
• [Journal Article] Intrinsic Placing Behavior in Zero-Power Controlled Magnetic Levitation Object Handling (2006)
  • Author(s): E. van West, A. Yamamoto, T. Higuchi
  • Journal Title: Proc. Tenth International Symposium on Magnetic Bearings (CD-ROM) Pages: 6-6
  • Peer Reviewed
• [Journal Article] Development of "Haptic Tweezer", anon-contact object handling system using magnetic levitation and haptic device (2006)
  • Author(s): E. van West, A. Yamamoto, T. Higuchi
  • Journal Title: Proc. Eurohaptics International Conference 2006 Pages: 87-92
• [Journal Article] Intrinsic Placing Behaior in Zero-Power Controlled Magnetic Levitation Object Handling (2006)
  • Author(s): E.van West, A.Yamamoto, T.Higuchi
  • Journal Title: Proc. Tenth International Symposium on Magnetic Bearing (CD-ROM) Pages: 6-6
• [Journal Article] Development of "Haptic Tweezer", a non-contact object handling system using magnetic levitation and haptic device (2006)
  • Author(s): E.van West, A.Yamamoto, T.Higuchi
  • Journal Title: Proc. International Conference on EuroHaptics 2006 Pages: 87-92
• [Journal Article] Pick and Place of Hard Disk Media using Electrostatic Levitation (2006)
  • Author(s): E.van West, A.Yamamoto, T.Higuchi
  • Journal Title: 第7回SICEシステムインテグレーション部門講演会論文集 Pages: 800-801
• [Journal Article] Manipulation of Thin Objects Using Levitation Techniques, Tilt Control, and Haptics
  • Author(s): E. van West, A. Yamamoto, T. Higuchi
  • Journal Title: IEEE Transactions on Automation Science and Engineering (in press)
  • Peer Reviewed
• [Journal Article] Development of SCARA-Type Haptic Device for Electrostatic Non-Contact Handling System
  • Author(s): Ewoud van West, Akio Yamamoto, Benjamin Bums, Toshiro Higuchi
  • Journal Title: Journal of Advanced Mechanical Design, Systems, and Manufacturing (未定)(掲載確定)
  • NAID: 130000080766
  • Peer Reviewed
• [Presentation] Transportation of Hard Disk Media Using Electrostatic Levitation and Tilt Control (2008)
  • Author(s): E. van West
  • Organizer: 2008 IEEE International Conference on Robotics and Automation (ICRA2008)
  • Place of Presentation: Pasadena, USA
  • Year and Date: 2008-05-21
• [Presentation] Non-contact electrostatic levitation of micro-objects (2008)
  • Author(s): J. Ryu
  • Organizer: 第20回「電磁力関連のダイナミクス」シンポジウム
  • Place of Presentation: 別府
  • Year and Date: 2008-05-21
• [Presentation] Transportation of Hard Disk Media Using Electrostatic Levitation and Tilt Control (2008)
  • Author(s): E. van West
  • Organizer: 2008 IEEE International Conference on Robotics and Automation
  • Place of Presentation: USA, CA, Pasadena
  • Year and Date: 2008-05-21
• [Presentation] Transportation of Hard Disk Media Using Electrostatic LeVitation and Tilt Control (2008)
  • Author(s): Ewoud van West, Akio Yamamoto, Toshiro Higuchi
  • Organizer: 2008IEEE International Conference on Robotics and Automation
  • Place of Presentation: Pasadena,USA
  • Year and Date: 2008-05-21
• [Presentation] Non-Contact Handling of Hard-Disk Media by Human Operator Using Electrostatic LeVitation and Haptic Device (2007)
  • Author(s): Ewoud van West, Akio Yamamoto, Benjamin Bums, Toshiro Higuchi
  • Organizer: 2007IEEE/RSJ Intemational Conference on Robots and Systems
  • Place of Presentation: San Diego,USA
  • Year and Date: 2007-10-30
• [Presentation] Development of SCARA-type Haptic Device (2007)
  • Author(s): Ewoud van West, Akio Yamamoto, Benjamin Bums, Toshiro Higuchi
  • Organizer: JSME-KSME Joint Intemational Conference on Manufacturing, Machine Design and Tribology
  • Place of Presentation: 旭川
  • Year and Date: 2007-07-02
• [Presentation] Pick and Place of Hard Disk Media using Electrostatic Levitation (2007)
  • Author(s): Ewoud van West, Akio Yamamoto, Toshiro Higuchi
  • Organizer: 2007IEEE International Conference on Robotics and Automation
  • Place of Presentation: Rome,Italy
  • Year and Date: 2007-04-12
• [Presentation] Development of "Haptic Tweezer", a non-contact object handling system using magnetic levitation and haptic device (2006)
  • Author(s): E. van West
  • Organizer: Eurohaptics International Conference 2006
  • Place of Presentation: Paris, France
  • Year and Date: 2006-07-04
• [Presentation] Pick and Place of Hard Disk Media using Electrostatic Levitation (2006)
  • Author(s): E. Van West
  • Organizer: 第7回SICEシステムインテグレーション部門講演会(SI2006)
  • Place of Presentation: 札幌
• [Remarks] 研究内容を紹介するホームページ
  • URL: http://am.t.u-tokyo.ac.jp/research/haptics.html
• [Remarks]
  • URL: http://am.t.u-tokyo.ac.jp/research/haptics.html