Realization of Force Feedback Communication by Nonlinear Impedance Model
| Project/Area Number |
22560280
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Keio University |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2012: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2011: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2010: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Keywords | ステアバイワイア / ハプティックペダル / フォースフィードバック / 反力推定オブザーバ / 外乱オブザーバ / 操作支援制御 / 電気自動車 / 非綿形インピーダンス / 2軸駆動型電動車いす / 段差乗り越え動作 / 力フィードバック / 移動マニピュレータ / 不安定機構 / 作業領域拡張制御 / 操作性向上制御 / マスタ・スレーブ制御 / 非線形インピーダンス制御 / 仮想インピーダンス制御 / ステア・バイ・ワイア / 運転支援制御 / 力センサレス制御 / 車間距離制御 |
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| Research Abstract |
This report describes a strategy of cooperative control based on interactive force between a mechanical system and human being for human-machine system. In this report, two kinds of experimental system are taken up to confirm the validity of the proposed
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Report
(4 results)
Research Products
(16 results)
