Development of a master-slave system without external power supply and force sensor for medical application

2012 Fiscal Year Final Research Report

• Project/Area Number: 23656166
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Dynamics/Control
• Research Institution: Kochi University of Technology
• Principal Investigator: INOUE Yoshio 高知工科大学, 工学部, 教授 (50299369)
• Co-Investigator(Kenkyū-buntansha): TSUJIUCHI Nobutaka 同志社大学, 理工学部, 教授 (60257798) ; SHIBATA Kyoko 高知工科大学, 工学部, 准教授 (00307117) ; KOIKE Sekiya 筑波大学, 人間総合科学研究科, 准教授 (50272670) ; HASE Kazunori 首都大学東京, 理工学研究科, 教授 (10357775) ; TAKEMASA Ryuichi 高知大学, 医歯学系, 講師 (20294837)
• Project Period (FY): 2011 – 2012
• Keywords: マスタースレーブ / エネルギー回生 / 義手 / 力覚 / バイラテラル

Research Abstract

As a new force feedback bilateral master-slave system without large external power supply and force sensor, we have developed a new control system using two DC-motors and energy recycling. We have derived the fundamental theory of the system and clarified the effect of the parameters on the energy efficiency and we have vilified the validity of the proposed method by carrying out the fundamental experiment. Further more, we have manufactured a proto-type of the prosthetic hand and confirmed that it can grip flexible material.