Master-Slave System based on Hand Haptic Interface for Humanoid Hand Robot
| Project/Area Number |
26249063
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Gifu University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
毛利 哲也 岐阜大学, 工学部, 准教授 (40418728)
山田 貴孝 岐阜大学, 工学部, 教授 (00273318)
上木 諭 豊田工業高等専門学校, その他部局等, 准教授 (50467213)
遠藤 孝浩 岐阜大学, 工学部, 助教 (70432185)
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| Project Period (FY) |
2014-06-27 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥41,600,000 (Direct Cost: ¥32,000,000、Indirect Cost: ¥9,600,000)
Fiscal Year 2016: ¥7,930,000 (Direct Cost: ¥6,100,000、Indirect Cost: ¥1,830,000)
Fiscal Year 2015: ¥14,820,000 (Direct Cost: ¥11,400,000、Indirect Cost: ¥3,420,000)
Fiscal Year 2014: ¥18,850,000 (Direct Cost: ¥14,500,000、Indirect Cost: ¥4,350,000)
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| Keywords | ロボットハンド / ハプティックインターフェイス / 遠隔操作 / 遠隔診断 / 外乱オブザーバ / マスター・スレーブ制御 / 知能ロボティックス / 制御工学 / 知能機械 / 人間型ロボットハンド / ユーザインターフェース / 機械力学・制御 / システム工学 / バーチャルリアリティ |
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| Outline of Final Research Achievements |
Human manipulate objects using not only fingertips and but also finger pads. Following four research issues based on technologies of our developed multi-fingered haptic interface HIRO III and humanoid robot hands are studied. (1) Constitution method of hybrid hand haptic interfaces, (2) Constitution method of humanoid robot hand, (3) Master-slave control based on force feeling of whole hand, and (4) Constitution method of master-slave system with safe and steady manipulation.
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Report
(4 results)
Research Products
(44 results)
