Research and Development on Human-Machine Cooperative System Based on Remote Control with Vivid Force Transmission

2014 Fiscal Year Final Research Report

• Project/Area Number: 25820100
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Kobe University
• Principal Investigator: MOTOI Naoki 神戸大学, 海事科学研究科(研究院), 講師 (10611270)
• Project Period (FY): 2013-04-01 – 2015-03-31
• Keywords: モーションコントロール / ハプティクス / バイラテラル制御 / 電気機器工学 / 制御工学

Outline of Final Research Achievements

This project aimed at the realization of a human-machine cooperative system based on a remote control with vivid force transmission. The research achievements can be summarized as the following points. (1) The force-based compliance control method to adapt to dynamic environment was developed. (2)The motion control method for the human-machine cooperative system based on a remote control with vivid force transmission was developed. In addition, position and force teaching information from human motion is extracted and reproduced. (3) The human-machine cooperative system was prototyped. Then, the researches for the system with multi-functions were conducted by using this prototype.

Free Research Field

モーションコントロール