The Research on Human Robot Interface Enabled with High Bandwidth Force Servoing for Manipulation of Robotic Arm

2016 Fiscal Year Final Research Report

• Project/Area Number: 15K18009
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Waseda University
• Principal Investigator: WANG Wei 早稲田大学, 理工学術院, 助教 (10598915)
• Project Period (FY): 2015-04-01 – 2017-03-31
• Keywords: ヒューマン・ロボット・インタフェース

Outline of Final Research Achievements

In this research we developed a Human-robot interface enabled with high bandwidth force servoing for robotic arm manipulation. There are several commercial-available haptic interface devices for user interaction, however, their bandwidth is limited to servo real force with high frequency components, thus limit their usage in more delicate tele-manipulation tasks. thus we developed a force servoing technology that could achieve a high bandwidth performance, implemented critically based on "new material based series elastic actuation" and "high resolution torque sensing". A impedance shaping method was also developed to evaluate advantages of our proposed method.

Free Research Field

知能機械学