Joint-less hapticdevice based on integrated flexible spring structure

• Project/Area Number: 23760225
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Nagoya Institute of Technology
• Principal Investigator: ARATA Jumpei 名古屋工業大学, 工学研究科, 助教 (40377586)
• Project Period (FY): 2011 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2012: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000); Fiscal Year 2011: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: 人間機械システム / 力覚提示装置 / 超音波浮揚 / ハプティックデバイス / 国際情報交流 / アメリカ / スイス / ハプティクス

Research Abstract

In this study, we investigated
(1) the control method of surface friction based on ultrasonic levitator, and
(2) the method was applied to the haptic device within a joint-less structure based on compliant mechanism. The prototype showed the effectiveness of the proposed method, thus the research project was successfully achieved as it has been planed.

Research Products

• [Journal Article] コンプライアントメカニズムを用いた円弧ばね関節を有するばね一パラレルメカニズムによる精密位置決め装置の開発 (2012)
  • Author(s): 小塚裕明,荒田純平,奥田憲司,翁長明範,大野元嗣,佐野明人,藤本英雄
  • Journal Title: 日本機械学会論文集(C編) Volume: Vol.78(793) Pages: 3216-3227
• [Journal Article] 小塚裕明, 荒田純平, 奥田憲司, 翁長明範, 大野元嗣, 佐野明人, 藤本英雄, コンプライアントメカニズムを用いた円弧ばね関節を有するばね―パラレルメカニズムによる精密位置決め装置の開発 (2012)
  • Author(s): 小塚裕明
  • Journal Title: 日本機械学会論文集（C編） Volume: 78(793) Pages: 3216-3227
  • Peer Reviewed
• [Presentation] A Compliant-Parallel Mechanism with Bio-Inspired Compliant Joints for High Precision Assembly Robot (2013)
  • Author(s): Kozuka Hiroaki, Arata Jumpei, Okuda Kenji, Onaga Akinori, Ohno Motoshi, Sano Akihito, Fujimoto Hideo
  • Organizer: Proc. of the first CIRP Conference on BioManufacturing, pp.175-178
  • Place of Presentation: Tokyo, Japan
• [Presentation] A Compliant-Parallel Mechanism with Bio-Inspired Compliant Joints for High Precision Assembly Robot (2013)
  • Author(s): Hiroaki Kozuka
  • Organizer: Proc. of the first CIRP Conference on BioManufacturing
  • Place of Presentation: Tokyo, Japan
• [Presentation] Compliant-Parallel Mechanism for High Precision Machine with a Wide Range of Working Area (2012)
  • Author(s): Hiroaki Kozuka, Jumpei Arata, Kenji Okuda, Akinori Onaga, Motoshi Ohno, Akihito Sano, Hideo Fujimoto
  • Organizer: Proc. of Int. Conference on Intelligent Robots And Systems (IROS), pp.2519-2524
  • Place of Presentation: Algarve, Portugal
• [Presentation] 特徴的なばね関節形状を有するコンプライアントーパラレルメカニズムの開発 (2012)
  • Author(s): 小塚裕明,荒田純平,奥田憲司,翁長明範,大野元嗣,佐野明人,藤本英雄
  • Organizer: 第30回日本ロボット学会学術講演会予稿集,AC3E2-5
• [Presentation] Compliant-Parallel Mechanism for High Precision Machine with a Wide Range of Working Area (2012)
  • Author(s): Hiroaki Kozuka
  • Organizer: Proc. of Int. Conference on Intelligent Robots And Systems (IROS)
  • Place of Presentation: Algarve, Portugal
• [Presentation] 特徴的なばね関節形状を有するコンプライアントーパラレルメカニズムの開発 (2012)
  • Author(s): 小塚裕明
  • Organizer: 第30回日本ロボット学会学術講演会予稿集
  • Place of Presentation: 札幌
• [Presentation] 弾性体を介在させた電磁ブレーキによる受動的な力覚提示装置の開発 (2011)
  • Author(s): 宮城孝弘,荒田純平,藤本英雄
  • Organizer: 第16回バーチャルリアリティ学会大会論文集,pp.129-132
• [Presentation] 弾性体を介在させた電磁ブレーキによる受動的な力覚提示装置の開発 (2011)
  • Author(s): 宮城孝弘, 荒田純平, 藤本英雄
  • Organizer: 第16回バーチャルリアリティ学会大会
  • Place of Presentation: 公立はこだて未来大学