2015 Fiscal Year Research-status Report
The Research on Human Robot Interface Enabled with High Bandwidth Force Servoing for Manipulation of Robotic Arm
| Project/Area Number |
15K18009
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| Research Institution | Waseda University |
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Principal Investigator |
汪 偉 早稲田大学, 理工学術院, 助教 (10598915)
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Keywords | force control |
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| Outline of Annual Research Achievements |
The purpose of this research is to develop a human-robot interface enabled with high bandwidth force serving. In this year, a one degree of freedom actuator was carefully designed and fabricated. The one degree of freedom actuator will acts as the key component of our final human-robot interface which is able for high bandwidth force serving. The actuator is consists of a geared motor in series connection with a well designed bending spring, and a high precision optical displacement sensor to measure spring. The bending spring is designed with careful calculation of its mechanics behavior in order not to exceed the elastic elongation range of the material. The optical displacement sensor is able to measure um level bending of the spring, which make it possible to implement a stiff but high bandwidth force actuator. The actuator was assembled and tested for evaluation of the design.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The one degree of freedom actuator was carefully designed and fabricated. It is the most important step for the research. However, only simple test was conducted for the actuator, because the design and fabrication need to be rectified for several times. The algorithms and applications will be left to the job of this year.
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| Strategy for Future Research Activity |
The main task of this year was to develop algorithms for the actuator with respect to different applications, and also a complete human-robot interface will be fabricated which making use of the actuator.
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Research Products
(1 results)
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[Presentation] A Concept for a Robot Arm with an Adjustable Series Clutch Actuators and Passive Gravity Compensation for Enhanced Safety2015
Author(s)
Schmitz, A., Bhavaraju, S., Somlor, S., Aguirre Dominguez, G., Kamezaki, M., Wang, W. and Sugano, S.
Organizer
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2015)
Place of Presentation
Busan, Korea
Year and Date
2015-07-07 – 2015-07-11
Int'l Joint Research
