| Project/Area Number |
21760218
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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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 |
SHIMONO Tomoyuki Yokohama National University, 工学研究院, 助教 (90513292)
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| Project Period (FY) |
2009 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2010: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2009: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
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| Keywords | ハプティクス / モーションコントロール / 制御工学 / 電気機器工学 / 触覚伝達 / バイラテラル制御 / 可変伝達率 / マスタ・スレーブシステム |
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| Research Abstract |
This project aimed at the realization of engineering support for microscopic motion on the basis of haptic feedback control technique. Then, the research on new haptics technology which has high control performance in micrometer/nanometer scale was driven. The research achievements can be summarized as the following five points. (1) A prototype of micro haptic system was developed. (2) The performance index for haptic communication characteristic was newly defined. Then, a new bilateral control method taking variable transmission ratio into account was developed. (3) A new theory for motion modal decomposition based on discrete Fourier series expansion was established. (4) A new control technique for haptic communication between systems with different configuration was developed. (5) The experimental system for the network-based real-time haptic communication was developed.
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