Realization of Force Feedback Communication by Nonlinear Impedance Model

• Project/Area Number: 22560280
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Keio University
• Principal Investigator: MURAKAMI Toshiyuki 慶應義塾大学, 理工学部, 教授 (00255598)
• Project Period (FY): 2010 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥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)
• 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

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

Research Products

• [Journal Article] Transparency Analysis of A Force Sensorless Master-Slave Control by Force Feedback Based Virtual Impedance Controller with Time Delay (2012)
  • Author(s): Ryosuke Horie and Toshiyuki Murakami
  • Journal Title: Advances in Reconfigurable Mechanisms and Robots I Pages: 681-694
  • Peer Reviewed
• [Journal Article] Transparency Analysis of A Force Sensorless Master-Slave Control by Force Feedback Based Virtual Impedance Controller with Time Delay (2012)
  • Author(s): Ryosuke Horie
  • Journal Title: Advances in Reconfigurable Mechanisms and Robots I Volume: I Pages: 681-694
• [Journal Article] A Novel Approach to Master and Slave Control by Force Feedback Based Virtual Impedance Controller (2011)
  • Author(s): Nobuhiro Iwase, Ryosuke Horie and Toshiyuki Murakami
  • Journal Title: Journal of Control Engineering and Applied Informatics Volume: No. 13 Pages: 9-13
  • Peer Reviewed
• [Journal Article] A Novel Approach to Master and Slave Control by Force Feedback Based Virtual Impedance Controller (2011)
  • Author(s): Nobuhiro Iwase, Ryosuke Horie, Toshiyuki Murakami
  • Journal Title: Journal of Control Engineering and Applied Informatics Volume: 13 Pages: 9-13
  • Peer Reviewed
• [Presentation] An Approach to Expansion of Workspace Motion in Master-Slave Control System (2012)
  • Author(s): Kiyotoshi Komuta and Toshiyuki Murakami
  • Organizer: IECON2012
  • Place of Presentation: Montreal, Canada
• [Presentation] An Approach to Expansion of Workspace Motion in Master-Slave Control System (2012)
  • Author(s): Kiyotoshi Komuta
  • Organizer: IECON2012
  • Place of Presentation: Montréal, Canada
• [Presentation] An Analysis of a Novel Master-Slave Control and its Application to MDOF Motion Systems (2011)
  • Author(s): Ryosuke HORIE and Toshiyuki Murakami
  • Organizer: 37th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: オーストラリア
  • Year and Date: 2011-11-10
• [Presentation] Pushing Operation in Variable Compliance Control According to Estimated Road Friction (2011)
  • Author(s): Ken'ichiro Murai and Toshiyuki Murakami
  • Organizer: 37th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: オーストラリア
  • Year and Date: 2011-11-10
• [Presentation] 電気自動車における車間距離制御のためのモデル予測制御に基づいた運転支援 (2011)
  • Author(s): 奥山勇治・村上俊之
  • Organizer: 平成23年電気学会産業応用部門大会
  • Place of Presentation: 沖縄
  • Year and Date: 2011-09-08
• [Presentation] Driving Support Control by Force Feedback Communication for Steer‐By‐Wire System (2010)
  • Author(s): Yoshihide Igari and Toshiyuki Murakami
  • Organizer: 4th Asia International Symposium on Mechatronics
  • Place of Presentation: National University of Singapore
  • Year and Date: 2010-12-17
• [Presentation] Driving Support Control by Force Feedback Communication for Steer-By-Wire System Yoshihide Igari and Toshiyuki Murakami (2010)
  • Author(s): Yoshihide Igari, Toshiyuki Murakami
  • Organizer: 4th Asia International Symposium on Mechatronics
  • Place of Presentation: National University of Singapore
  • Year and Date: 2010-12-17
• [Presentation] Virtual Force Field Based Force ‐Feedback of Road Condition for Driving Assistant Design in Electric Vehicle (2010)
  • Author(s): Jerome Carlier and Toshiyuki Murakami
  • Organizer: 4th Asia International Symposium on Mechatronics
  • Place of Presentation: National University of Singapore
  • Year and Date: 2010-12-15
• [Presentation] A Caution Cognition for Driving Control in Steer ‐by ‐Wire Based Tractor ‐Trailer Vehicle System (2010)
  • Author(s): Yuki Katayama and Toshiyuki Murakami
  • Organizer: 4th Asia International Symposium on Mechatronics
  • Place of Presentation: National University of Singapore
  • Year and Date: 2010-12-15
• [Presentation] Virtual Force Field Based Force-Feedback of Road Condition for Driving Assistant Design in Electric Vehicle (2010)
  • Author(s): Jerome Carlier, Toshiyuki Murakami
  • Organizer: 4th Asia International Symposium on Mechatronics
  • Place of Presentation: National University of Singapore
  • Year and Date: 2010-12-15
• [Presentation] A Caution Cognition for Driving Control in Steer-by-Wire Based Tractor-Trailer Vehicle System (2010)
  • Author(s): Yuki Katayama, Toshiyuki Murakami
  • Organizer: 4th Asia International Symposium on Mechatronics
  • Place of Presentation: National University of Singapore
  • Year and Date: 2010-12-15
• [Remarks]
  • URL: http://www.fha.sd.keio.ac.jp/jp/shuron/shuron.html