| Project/Area Number |
24656164
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2014: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2013: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
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| Keywords | ヒューマンインタフェース / 柔軟機構 / ファブリック / テキスタイル / ヒューマンロボットインタラクション / 人間機械システム / ファブリック素材 / インピーダンス制御 / シミュレーションモデル / ロボティクス / シミュレーション / コンプライアンス制御 |
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| Outline of Final Research Achievements |
This research aims to design and control flexible fabric mechanisms who have good touch feel.
Though the mechanism is distributed redundant mechanism, the posture of the mechanism depends only on the length of string when the external forces are small. With a map between length of strings and the posture of the mechanism, the position control is realized. An external force measurement method is proposed and a compliance control is realized. We also confirmed that user's impression to the robot, when they move the arm, are changed by changing the compliance.
A new 3DOF rotation mechanism is also developed.
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