Development of next-generation robot with force sense by replacing mechanical functions with electrical functions

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K05871
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Kochi University of Technology
• Principal Investigator: Tachibana Kunihiko 高知工科大学, 総合研究所, 助教 (10747794)
• Co-Investigator(Kenkyū-buntansha): 井上 喜雄 高知工科大学, 総合研究所, 教授 (50299369) ; 岡 宏一 高知工科大学, システム工学群, 教授 (10160649) ; 渡橋 和政 高知大学, 教育研究部医療学系臨床医学部門, 教授 (70204295)
• Co-Investigator(Renkei-kenkyūsha): OKA Koichi 高知工科大学, システム工学群, 教授 (10160649) ; ORIHASHI Kazumasa 高知大学, 教育研究部, 教授 (70204295)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: モーションコントロール / マスタ・スレーブ / 力覚

Outline of Final Research Achievements

In recent years, surgical robots and industrial robots have come into wider use. These robots do not yet provide a force sense to the surgeon/operator, but such force sense will be necessary on the next generation robots. We have proposed a master-slave system of the series connection type that generates a force sense using conventional bilateral control without a force sensor and a reduction gear. The system can change a force sense and moving amount by electrical control. Basic technology of the system is confirmed with a prototype robot. In future studies, we apply these technology to achieve a practical robot.

Free Research Field

工学