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Master-Slave System based on Hand Haptic Interface for Humanoid Hand Robot

Research Project

Project/Area Number 26249063
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering/System engineering
Research InstitutionGifu University

Principal Investigator

KAWASAKI Haruhisa  岐阜大学, 工学部, 特任教授・名誉教授 (40224761)

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)
Project Period (FY) 2014-06-27 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
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)
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
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.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Annual Research Report
  • 2014 Annual Research Report
  • Research Products

    (44 results)

All 2017 2016 2015 2014 Other

All Int'l Joint Research (2 results) Journal Article (6 results) (of which Peer Reviewed: 6 results,  Acknowledgement Compliant: 5 results,  Open Access: 2 results) Presentation (29 results) (of which Int'l Joint Research: 4 results,  Invited: 7 results) Book (4 results) Remarks (2 results) Patent(Industrial Property Rights) (1 results)

  • [Int'l Joint Research] HIWIN Technologoes Corp.(台湾)

    • Related Report
      2016 Annual Research Report
  • [Int'l Joint Research] HIWIN(Taiwan)

    • Related Report
      2015 Annual Research Report
  • [Journal Article] Haptic Interface for Displaying Softness at Multiple Fingers: Combining a Side-faced-type Multi-fingered Haptic Interface Robot and Improved Softness-display Devices2016

    • Author(s)
      Takahiro Endo, Ayaka Kusakabe, Yuta Kazama, Haruhisa Kawasaki
    • Journal Title

      IEEE/ASME Transactions on Mechatronics

      Volume: Vol. 21, No. 5 Issue: 5 Pages: 2343-2351

    • DOI

      10.1109/tmech.2016.2567453

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Study on stiffness visualization and safety control based on will-consensus building for tele-palpation robot system2016

    • Author(s)
      Satoshi Ueki, Tetsuya Mouri, Takahiro Endo, and Haruhisa Kawasaki
    • Journal Title

      Artificial Life and Robotics

      Volume: 21 Issue: 1 Pages: 31-36

    • DOI

      10.1007/s10015-015-0254-5

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Side-faced-type Multi-fingered Haptic Interface2015

    • Author(s)
      遠藤孝浩, 川﨑晴久, 中川志信, 山下誠治, 土屋陽太郎, 石榑康彦
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 51 Issue: 4 Pages: 251-259

    • DOI

      10.9746/sicetr.51.251

    • NAID

      130005065075

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] A fine motor skill training system using multi-fingered haptic interface robot2015

    • Author(s)
      Takahiro Endo, Haruhisa Kawasaki
    • Journal Title

      International Journal of Human-Computer Studies

      Volume: 84 Pages: 41-50

    • DOI

      10.1016/j.ijhcs.2015.08.006

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] 側面設置型多指ハプティックインターフェイス2015

    • Author(s)
      遠藤孝浩, 川崎晴久, 中川志信, 山下誠治, 土屋陽太郎, 石榑康彦
    • Journal Title

      計測自動制御学会論文集

      Volume: 51 Pages: 1-9

    • NAID

      130005065075

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Iterative learning control with sampled-data feedback for robot manipulators2014

    • Author(s)
      K. Delchev, G. Boiadjiev, H. Kawasaki, T. Mouri
    • Journal Title

      Archives of Control Sciences

      Volume: 24 Pages: 257-277

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Presentation] Bilateral Tele-operated Hand Robot with Communicational Time Delay2017

    • Author(s)
      Tetsuya Mouri, Satoshi Ueki, Haruhisa Kawasaki
    • Organizer
      IFAC 2017 World Congress
    • Place of Presentation
      Toulouse, France
    • Year and Date
      2017-07-09
    • Related Report
      2016 Annual Research Report
  • [Presentation] Nonlinear Disturbance Observer for Object Grasping/Manipulation by Multi-Fingered Robot Hand2017

    • Author(s)
      Satoshi Ueki, Tetsuya Mouri, Haruhisa Kawasaki
    • Organizer
      IFAC 2017 World Congress
    • Place of Presentation
      Toulouse, France
    • Year and Date
      2017-07-09
    • Related Report
      2016 Annual Research Report
  • [Presentation] 視覚と力覚の提示および接触点位置の推定を伴う遠隔操作による組立作業の研究2017

    • Author(s)
      近藤真二、村上栄将、山田貴孝、佐藤惇哉、山本秀彦、毛利哲也、川﨑晴久
    • Organizer
      日本機械学会 ロボティクス・メカトロニクス講演会2017 in Fukushima
    • Place of Presentation
      福島市
    • Year and Date
      2017-05-10
    • Related Report
      2016 Annual Research Report
  • [Presentation] Unityと4指ハンドを用いた仮想物体の力覚提示に関する研究2017

    • Author(s)
      松尾健斗、村上栄将、山田貴孝、佐藤惇哉、山本秀彦、川﨑晴久、毛利哲也
    • Organizer
      日本機械学会 ロボティクス・メカトロニクス講演会2017 in Fukushima
    • Place of Presentation
      福島市
    • Year and Date
      2017-05-10
    • Related Report
      2016 Annual Research Report
  • [Presentation] 人間型ハンドロボットの通信遅延を有する遠隔操作2017

    • Author(s)
      毛利哲也、山村響、藤井裕太、川﨑晴久
    • Organizer
      日本機械学会 ロボティクス・メカトロニクス講演会2017 in Fukushima
    • Place of Presentation
      福島市
    • Year and Date
      2017-05-10
    • Related Report
      2016 Annual Research Report
  • [Presentation] Controls and Applications of Multi-Fingered Haptic Interface Robots,2017

    • Author(s)
      Haruhisa Kawasaki
    • Organizer
      HIWIN Robot Symposium
    • Place of Presentation
      Taichung, Taiwan
    • Year and Date
      2017-01-07
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] Disturbance Observer Estimating Frictions and External Forces for Robot Manipulators2017

    • Author(s)
      Haruhisa Kawasaki
    • Organizer
      HIWIN Robot Symposium
    • Place of Presentation
      Taichung, Taiwan
    • Year and Date
      2017-01-07
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] Controls and Applications of Multi-Fingered Haptic Interface Robots2017

    • Author(s)
      Tetuya Mouri
    • Organizer
      HIWIN Robot Symposium
    • Place of Presentation
      Taichung, Taiwan
    • Year and Date
      2017-01-07
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] ロボットハンドによる外乱オブザーバを利用した把持制御2016

    • Author(s)
      上木諭,毛利哲也,川崎晴久
    • Organizer
      第17回 計測自動制御学会SI部門講演会システムインテグレーション部門講演会(SI2016)
    • Place of Presentation
      札幌市
    • Year and Date
      2016-12-15
    • Related Report
      2016 Annual Research Report
  • [Presentation] ロボットハンドの遠隔操作技術2016

    • Author(s)
      川﨑晴久
    • Organizer
      第2回メディカルロボット開発支援セミナー、主催 公益財団法人埼玉県産業振興公社
    • Place of Presentation
      さいたま市
    • Year and Date
      2016-12-14
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] Disturbance Observer Estimating Frictions and External Forces for Robot Manipulators2016

    • Author(s)
      Haruhisa Kawasaki, Satoshi. Ueki
    • Organizer
      2016 IEEE ANDESCON
    • Place of Presentation
      Arequipa, Peru
    • Year and Date
      2016-10-19
    • Related Report
      2016 Annual Research Report
  • [Presentation] 把持対象物と外部環境との接触状態の同定実験(指先の力覚センサを用いた場合)2016

    • Author(s)
      福島雅史,山田 貴孝,山本秀彦,川﨑晴久,毛利 哲也
    • Organizer
      日本機械学会 ロボティクス・メカトロニクス講演会2016 in Yokohama
    • Place of Presentation
      横浜市
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] 力覚情報の提示と接触パラメタの同定を伴う多指ハンドの遠隔操作の研究2016

    • Author(s)
      村上栄将,山田貴孝,山本秀彦,川﨑晴久,毛利哲也
    • Organizer
      日本機械学会 ロボティクス・メカトロニクス講演会2016 in Yokohama
    • Place of Presentation
      横浜市
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] ハンドアームロボットのための障害物回避制御2015

    • Author(s)
      上木 諭, 毛利 哲也, 川﨑 晴久
    • Organizer
      第16回システムインテグレーション部門講演会(SI2015)
    • Place of Presentation
      名古屋
    • Year and Date
      2015-12-14
    • Related Report
      2015 Annual Research Report
  • [Presentation] Optimization of grasp positions using the partial differentiation of the grasp stiffness matrix2015

    • Author(s)
      Kenta Niwa, Takayoshi Yamada, Hidehiko Yamamoto, Haruhisa Kawasaki, Tetsuya Mouri
    • Organizer
      2015 IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Nagoya, Japan
    • Year and Date
      2015-12-11
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Collision avoidance method for hand-arm robot using both structural model and 3D point cloud2015

    • Author(s)
      Satoshi Ueki, Tetsuya Mouri, and Haruhisa Kawasaki
    • Organizer
      2015 IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Nagoya, Japan
    • Year and Date
      2015-12-11
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Teleoperated Humanoid Hand Robot Using Force Feedback2015

    • Author(s)
      Tetsuya Mouri, Haruhisa Kawasaki, and Satoshi Ueki
    • Organizer
      2015 IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Nagoya, Japan
    • Year and Date
      2015-12-11
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 触覚センサを装着した高出力な人間型ロボットハンド2015

    • Author(s)
      毛利哲也,安部 貴大,川﨑 晴久
    • Organizer
      第33回日本ロボット学会学術講演会
    • Place of Presentation
      東京
    • Year and Date
      2015-09-03
    • Related Report
      2015 Annual Research Report
  • [Presentation] Force Discrimination Using Improved Hand Haptic Interface2015

    • Author(s)
      Haruhisa Kawasaki, Tetsuya Mouri
    • Organizer
      2015 International Scientific Conference on Engineering and Applied Sciences (ISCEAS 2015)
    • Place of Presentation
      Okinawa, Japan
    • Year and Date
      2015-07-19
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 人間型ハンドロボットを用いた物体剛性の遠隔提示2015

    • Author(s)
      藤井 裕太, 毛利 哲也, 川﨑 晴久
    • Organizer
      ROBOMEC 2015
    • Place of Presentation
      京都
    • Year and Date
      2015-05-17
    • Related Report
      2015 Annual Research Report
  • [Presentation] Study on stiffness visualization and safety control based on will-consensus building for tele-palpation robot system2015

    • Author(s)
      S. Ueki, T. Mouri, T. Endo, and H. Kawasaki
    • Organizer
      The 20th International Symposium on Artificial Life and Robotics 2015 (AROB 20th 2015)
    • Place of Presentation
      Beppu, Japan
    • Year and Date
      2015-01-21 – 2015-01-23
    • Related Report
      2014 Annual Research Report
  • [Presentation] 高分解能な圧力とその分布が検出可能な触覚センサ2014

    • Author(s)
      安部貴大, 毛利哲也, 川﨑晴久
    • Organizer
      第15回 計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      東京ビッグサイト
    • Year and Date
      2014-12-15 – 2014-12-17
    • Related Report
      2014 Annual Research Report
  • [Presentation] 多指ハンドロボットによる遠隔操作触診支援のための硬さ情報の視覚化に関する研究2014

    • Author(s)
      上木 諭, 毛利 哲也, 川﨑 晴久
    • Organizer
      第15回 計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      東京ビッグサイト
    • Year and Date
      2014-12-15 – 2014-12-17
    • Related Report
      2014 Annual Research Report
  • [Presentation] 手指関節角度推定に基づく筋電義手のためのパターン認識2014

    • Author(s)
      森川 嵩弘 毛利 哲也,川﨑 晴久,榮枝 裕文
    • Organizer
      第15回 計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      東京ビッグサイト
    • Year and Date
      2014-12-15 – 2014-12-17
    • Related Report
      2014 Annual Research Report
  • [Presentation] Prosthetic Hand Control Using Speech and sEMG2014

    • Author(s)
      H. Kawasaki, T. Mouri, K. Iwase, H. Sakaeda
    • Organizer
      The 2014 IEEE Int. Conf. on Robotics and Biomimetics
    • Place of Presentation
      Bali, Indonesia
    • Year and Date
      2014-12-05 – 2014-12-10
    • Related Report
      2014 Annual Research Report
  • [Presentation] Collision Avoidance and its Experimental Investigation for a Side-Faced-Type Multi-Fingered Haptic Interface2014

    • Author(s)
      T. Endo, H. Kawasaki
    • Organizer
      2014 IEEE International Conference on Systems, Man, and Cybernetics
    • Place of Presentation
      San Diego,USA
    • Year and Date
      2014-10-05 – 2014-10-08
    • Related Report
      2014 Annual Research Report
  • [Presentation] 人間型ロボットハンドの力覚を伴う遠隔操作2014

    • Author(s)
      毛利哲也、川﨑晴久、藤井裕太
    • Organizer
      第32回日本ロボット学会学術講演会
    • Place of Presentation
      九州産業大学
    • Year and Date
      2014-09-04 – 2014-09-06
    • Related Report
      2014 Annual Research Report
  • [Presentation] Research on Robotics in Gifu University2014

    • Author(s)
      H. Kawasaki
    • Organizer
      Lecture Meeting at Robotics and Cybernetics research group at the Department of Technology and Nautical Sciences, Aalesund University College
    • Place of Presentation
      Ålesund, Norway
    • Year and Date
      2014-08-21
    • Related Report
      2014 Annual Research Report
    • Invited
  • [Presentation] Research on Robotics in Gifu University2014

    • Author(s)
      H. Kawasaki
    • Organizer
      Lecture Meeting at Robotics and Intelligent Systems (ROBIN) research group at Department of Informatics at University of Oslo
    • Place of Presentation
      Oslo, Norway
    • Year and Date
      2014-08-16
    • Related Report
      2014 Annual Research Report
    • Invited
  • [Book] Design and Control of a Hand-Assist Robot with Multiple Degrees of Freedom for Rehabilitation Therapy, Chapter 11 of Virtual Reality Enhanced Robotic Systems for Disability Rehabilitation2016

    • Author(s)
      Haruhisa Kawasaki, Satoshi Ito, Satoshi Ueki, Tetuya Mouri
    • Publisher
      IGI Gloval
    • Related Report
      2016 Annual Research Report
  • [Book] Adaptive Control for Multi-Fingered Robot Hands, Chapter 5 of Adaptive Control for Robotic Manipulators2016

    • Author(s)
      Satoshi Ueki, Haruhisa Kawasaki
    • Publisher
      CRC Press
    • Related Report
      2016 Annual Research Report
  • [Book] Robot Hands and Multi-Fingered Haptic Interfaces: Fundamentals and Applications2015

    • Author(s)
      Haruhisa Kawasaki
    • Total Pages
      325
    • Publisher
      World Scientific Publishing
    • Related Report
      2015 Annual Research Report
  • [Book] Virtual Robot Teaching for Humanoid Both-Hands Robots Using Multi-Fingered Haptic Interface, "The Thousand Faces of Virtual Reality", book edited by Cecilia Sik Lanyi2014

    • Author(s)
      H. Kawasaki, T. Mouri, S. Ueki,
    • Total Pages
      20
    • Publisher
      INTECH
    • Related Report
      2014 Annual Research Report
  • [Remarks] Kawasaki & Mouri Laboratory

    • URL

      http://www1.gifu-u.ac.jp/~kawalab/index.html

    • Related Report
      2015 Annual Research Report
  • [Remarks] 岐阜大学工学部機械工学科 川崎&毛利研究室

    • URL

      http://robo.mech.gifu-u.ac.jp/

    • Related Report
      2014 Annual Research Report
  • [Patent(Industrial Property Rights)] 外乱オブザーバ及びロボット制御装置2016

    • Inventor(s)
      川﨑晴久,毛利哲也,上木諭,丸山章、上田和彦、中村一也、小林保幸
    • Industrial Property Rights Holder
      岐阜大学、豊田工業高等専門学校、並木精密宝石㈱、㈱不二越
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2016-198917
    • Filing Date
      2016-10-07
    • Related Report
      2016 Annual Research Report

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Published: 2014-11-20   Modified: 2022-03-01  

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