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Study on High Performance Force Display Systems with High Safety Using ER Fluid

Research Project

Project/Area Number 14350131
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionOsaka University

Principal Investigator

FURUSHO Junji  Osaka University, Graduate School of Engineering, Professor, 大学院・工学研究科, 教授 (70107134)

Co-Investigator(Kenkyū-buntansha) KOYANAGI Kenichi  Osaka University, Graduate School of Engineering, Research Associate, 大学院・工学研究科, 助手 (30335377)
INOUE Akio  ER Tec Co.., President, 代表取締役(研究職)
武居 直行  大阪大学, 大学院・工学研究科, 助手 (70324803)
Project Period (FY) 2002 – 2004
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥16,500,000 (Direct Cost: ¥16,500,000)
Fiscal Year 2004: ¥3,800,000 (Direct Cost: ¥3,800,000)
Fiscal Year 2003: ¥7,100,000 (Direct Cost: ¥7,100,000)
Fiscal Year 2002: ¥5,600,000 (Direct Cost: ¥5,600,000)
KeywordsFunctional Fluid / ER Fluid / Force Display System / Mechatoronics / Virtual Reality / Safety / Passive Force Display / 力覚提示 / アクチュエータ / 機能性流体アクチュエータブレーキ / 機能性流体ブレーキ / ブレーキ / 歯付ベルト駆動系
Research Abstract

(1)The passive type force display is essentially safe, since it has no risk of overdrive. Because of its safety, many applications, such as training, clinical applications and amusement use are expected. However, to interact with or manipulate virtual objects, unique control strategies are required. We present three kinds of control algorithm to display a virtual wall and compare the characteristics of a passive force display using ER Fluid brakes experimentally.
(2)Presentation of sense of force makes the feeling of being at the scenes of enhancing in a virtual reality world. Most of the force display systems being into practical use are, however, small size and do not enough large generative force and working area for many applications such as rehabilitation therapy, skill training, designing, game or so. On the other hand, a force display system is a kind robot, which operates in constant contact with human beings, so it must be safe in all operational conditions. We analyze the safety properties of a middle- or large-sized force display system using ER fluid clutches whose input shaft are driven at low speed, and then discuss their force display characteristics.
(3)Passive type force display systems have some directions and link postures which are hard to present force. To this problem, we proposed a method for improvement of controllability using redundant couple of ER brakes. This method makes possible to display various force directions and various posture of virtual objects. We developed a passive type force display system with redundant couple of brakes and conducted its control experiments.
(4)We developed 2D and 3D force display systems using functional fluid clutches and conducted their force presentation experiments.
(5)We developed a wire-driven force display system with high safety using functional fluid.

Report

(4 results)
  • 2004 Annual Research Report   Final Research Report Summary
  • 2003 Annual Research Report
  • 2002 Annual Research Report
  • Research Products

    (53 results)

All 2006 2005 2004 Other

All Journal Article (41 results) Publications (12 results)

  • [Journal Article] パッシブ力覚提示による任意形状提示のための基本アルゴリズム2006

    • Author(s)
      小柳健一, 古荘純次, 森田智子
    • Journal Title

      日本ロボット学会誌 24,1

      Pages: 124-130

    • NAID

      10017172088

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Basic Algorithm to Represent Arbitrary Shape with Passive Force Display2006

    • Author(s)
      K.Koyanagi, J.Furusho, T.Morita
    • Journal Title

      Journal of the Robotics Society of Japan Vol.24, No.1

      Pages: 124-130

    • NAID

      10017172088

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 安全性評価基準を考慮したワイヤー駆動型力覚提示システムに関する研究2005

    • Author(s)
      山口雄平, 古荘純次
    • Journal Title

      日本バーチャルリアリティ論文誌 10,1

      Pages: 91-100

    • NAID

      110008728875

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] MRアクチュエータを用いた二次元力覚提示システム2005

    • Author(s)
      山口雄平, 古荘純次, 木村真也, 小柳健一
    • Journal Title

      日本ロボット学会誌 23,3

      Pages: 80-87

    • NAID

      10015532202

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 冗長自由度を有するパッシブ型力覚提示システムの開発2005

    • Author(s)
      小柳健一, 古荘純次, 董立誠
    • Journal Title

      日本ロボット学会誌 23,4

      Pages: 488-495

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 三次元上肢リハビリ訓練システムの開発(第1報 : ERアクチュエータを用いた機構およびシステム全体の開発)2005

    • Author(s)
      古荘純次, 小柳健一, 片岡次郎, 笠潮, 井上昭夫, 竹中重和
    • Journal Title

      日本ロボット学会誌 23,4

      Pages: 123-130

    • NAID

      10016591347

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] TOTAL FORCE CALCULATION METHOD FOR ER EFFECT OF LIQUID CRYSTALLINE POLYMER ON O NE-SIDED PATTERNED ELECTRODE SYSTEM2005

    • Author(s)
      T.Kikuchi, J.Furusho, A.Inoue
    • Journal Title

      International Journal of Modern Physics B 19,7-9

      Pages: 1256-1262

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] DEVELOPMENT OF HIGH-PERFORMANCE MR ACTUATOR AND ITS APPLICATION TO 2-D FORCE DISPLAY2005

    • Author(s)
      Y.Yamaguchi, J.Furusho, S.Kimura, K.Koyanagi
    • Journal Title

      International Journal of Modern Physics B 19,7-9

      Pages: 1485-1491

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] PROGRESS OF PASSIVE-TYPE FORCE DISPLAY SYSTEM WITH ER FLUID DEVICES2005

    • Author(s)
      K.Koyanagi, J.FUrusho
    • Journal Title

      International Journal of Modern Physics B 19,7-9

      Pages: 1641-1647

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Study on Wire-Driven Force Display System on the Consideration of Safety2005

    • Author(s)
      Y.Yamaguchi, J.Furusho
    • Journal Title

      Journal of the Virtual Reality Society of Japan (in Japanese) Vol.10, No.1

      Pages: 91-100

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 2-D Force Display System Using MR Actuators2005

    • Author(s)
      Y.Yamaguchi, J.Furusho, S.Kimura, K.Koyanagi
    • Journal Title

      Journal of the Robotics Society of Japan (in Japanese) Vol.23, No.3,

      Pages: 352-359

    • NAID

      10015532202

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Development of a Passive Type Force Display System with Redundant Couple of Brakes2005

    • Author(s)
      K.Koyanagi, J.Furusho, L.Dong
    • Journal Title

      Journal of the Robotics Society of Japan (in Japanese) Vol.23, No.4

      Pages: 488-495

    • NAID

      10015728290

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Development of 3-D Rehabilitation System for Upper Limb - 1st Report : Development of Mechanism including ER Actuators and Whole System -2005

    • Author(s)
      J.Furusho, K.Koyanagi, J.Kataoka, U.Ryu, A.Inoue, S.Takenaka
    • Journal Title

      Journal of the Robotics Society of Japan (in Japanese) Vol.23, No.5

      Pages: 629-636

    • NAID

      10016591347

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] TOTAL FORCE CALCULATION METHOD FOR ER EFFECT OF LIQUID CRYSTALLINE POLYMER ON O NE-SIDED PATTERNED ELECTRODE SYSTEM2005

    • Author(s)
      T.Kikuchi, J.Furusho, A.Inoue
    • Journal Title

      International Journal of Modern Physics B Vol.40 Nos.7-9

      Pages: 1256-1262

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] DEVELOPMENT OF HIGH-PERFORMANCE MR ACTUATOR AND ITS APPLICATION TO 2-D FORCE DISPLAY2005

    • Author(s)
      Y.Yamaguchi, J.Furusho, S.Kimura, K.Koyanagi
    • Journal Title

      International Journal of Modern Physics B Vol.19, Nos.7-9

      Pages: 1485-1491

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] PROGRESS OF PASSIVE-TYPE FORCE DISPLAY SYSTEM WITH ER FLUID DEVICES2005

    • Author(s)
      K.Koyanagi, J.Furusho
    • Journal Title

      International Journal of Modern Physics B Vol.19, Nos.7-9

      Pages: 1641-1647

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 高分子液晶系ER流体を用いたダンピングが制御可能なリニアガイドシステム開発のための基礎研究2005

    • Author(s)
      張剣, 古荘純次, 宇田昌樹, 山口利明
    • Journal Title

      精密工学会 71巻・4号(印刷中)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] MRアクチュエータを用いた2次元力覚提示システム2005

    • Author(s)
      山口雄平, 古荘純次, 木村真也, 小柳健一
    • Journal Title

      日本ロボット学会誌 23巻3号(印刷中)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 安全性評価基準を考慮したワイヤー駆動型力覚提示システムに関する研究2005

    • Author(s)
      山口雄平, 古荘純次
    • Journal Title

      日本バーチャルリアリティ学会論文誌 10巻・1号(印刷中)

    • NAID

      110008728875

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 3次元上肢リハビリ訓練システムの開発(第1報:ERアクチュエータを用いた機構およびシステム全体の開発)2005

    • Author(s)
      古荘純次, 小柳健一, 片岡次郎, 笠潮, 井上昭夫, 竹中重和
    • Journal Title

      日本ロボット学会誌 23巻・6号(印刷中)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 冗長ブレーキを有するパッシブ型力覚提示システムの開発2005

    • Author(s)
      小柳健一, 古荘純次, 董立誠
    • Journal Title

      日本ロボット学会誌 23巻4号(印刷中)

    • NAID

      10015728290

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Development of a New Linear Guide System with Electrically Controllable Damping Using Liquid Crystalline Polymer2005

    • Author(s)
      J.Zhan, J.Furusho, M.Uda, T.Yamaguchi
    • Journal Title

      Proceedings of the 9th International Conference on ER Fluids and MR Suspensions (in press)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Development of a 3-D Rehabilitation System for Upper Limbs Using ER Actuators in a NEDO Project2005

    • Author(s)
      J.Furusho, K.Koyanagi, K.Nakanishi, U.Ryu, S.Takenaka, etc
    • Journal Title

      Proceedings of the 9th International Conference on ER Fluids and MR Suspensions (in press)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Polishing Using ER Slurry on One-sided Patterned Electrodes2005

    • Author(s)
      T.Kikuchi, J.Fujiwara, J.Furusho, A.Inoue
    • Journal Title

      Proceedings of the 9th International Conference on ER Fluids and MR Suspensions (in press)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Total Force Calculation Method for ER Effect of Liquid Crystalline Polymer on One-sided Patterned Electrode Systems2005

    • Author(s)
      T.Kikuchi, J.Furusho, A.Inoue
    • Journal Title

      Proceedings of the 9th International Conference on ER Fluids and MR Suspensions (in press)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Development of High-Performance MR Actuator and Its Application to 2-D Force Display2005

    • Author(s)
      Y.Yamaguchi, J.Furusho, S.Kimura, K.Koyanagi
    • Journal Title

      Proceedings of the 9th International Conference on ER Fluids and MR Suspensions (in press)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Progress of Passive-Type Force Display System with ER Fluid Devices2005

    • Author(s)
      K.Koyanagi, Junji Furusho
    • Journal Title

      Proceedings of the 9the International Conference on ER Fluids and MR Suspensions (in press)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 力覚提示システムのための高安全性アクチュエータ2004

    • Author(s)
      小柳健一, 古荘純次, 井上貴文
    • Journal Title

      日本ロボット学会誌 22,3

      Pages: 97-104

    • NAID

      10012900646

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 二慣性共振特性を有するロボットアームにおける関節トルクセンサを用いた制御-状態推定オブザーバを用いた制御との比較-2004

    • Author(s)
      武居直行, 古荘純次, 藤永浩司
    • Journal Title

      電気学会論文誌(D編) 124,10

      Pages: 985-993

    • NAID

      10013640443

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Fast Response MR-Fluid Actuator2004

    • Author(s)
      N.Takesue, J.Furusho, Y.Kiyota
    • Journal Title

      JSME International Journal, Series C 47,3

      Pages: 783-791

    • NAID

      110004820803

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] パッシブ型力覚提示における仮想物体のなぞりに関する研究2004

    • Author(s)
      小柳健一, 古荘純次
    • Journal Title

      日本バーチャルリアリテイ学会論文誌 9,4

      Pages: 423-430

    • NAID

      110008746960

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] High Safety Actuator for Force Display System2004

    • Author(s)
      K.Koyanagi, J.Furusho, T.Inoue
    • Journal Title

      Journal of the Robotics Society of Japan (in Japanese) Vol.22, No.3

      Pages: 377-384

    • NAID

      10012900646

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Control Using Joint Torque Sensor of Robot Arm with Two-Inertia Resonance-2004

    • Author(s)
      N.Takesue, J.Furusho, K.Fujinaga
    • Journal Title

      Transactions of the institute of Electrical Engineers of Japan, Series D, (in Japanese) Vol.124, No.10

      Pages: 985-993

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Fast Response MR-Fluid Actuator2004

    • Author(s)
      N.Takesue, J.Furusho, Y.Kiyota
    • Journal Title

      JSME International Journal, Series C Vol.47, No.3

      Pages: 783-791

    • NAID

      110004820803

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Study on Tracing Virtual Objects in Passive Type Force Display2004

    • Author(s)
      K.Koyanagi, J.Furusho
    • Journal Title

      Journal of the Virtual Reality Society of Japan (in Japanese) Vol.9, No.4

      Pages: 423-430

    • NAID

      110008746960

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 力覚提示システムのための高安全性アクチュエータ2004

    • Author(s)
      小柳健一, 古荘純次, 井上貴文
    • Journal Title

      日本ロボット学会誌 22巻・3号

      Pages: 377-384

    • NAID

      10012900646

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Fast Response MR-Fluid Actuator2004

    • Author(s)
      N.Takesue, J.Furusho, Y.Kiyota
    • Journal Title

      JSME International Journal Series C Vol.47,No.3

      Pages: 783-791

    • NAID

      110004820803

    • Related Report
      2004 Annual Research Report
  • [Journal Article] ケイ素鋼板を用いた高速応答・高出力MRアクチュエータの研究開発2004

    • Author(s)
      山口雄平, 古荘純次, 菊池武士, 木村真也
    • Journal Title

      日本機械学会論文集(C編) 70巻・698号

      Pages: 2886-2893

    • NAID

      110006264094

    • Related Report
      2004 Annual Research Report
  • [Journal Article] パッシブ型力覚提示における仮想物体のなぞりに関する研究2004

    • Author(s)
      小柳健一, 古荘純次
    • Journal Title

      日本バーチャルリアリティ学会論文誌 9巻・4号

      Pages: 423-430

    • NAID

      110008746960

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Application of Liquid Crystalline Polymer for a New Linear Guide System with Electrically Controllable Damping and Its Performances Evaluation2004

    • Author(s)
      J.Zhang, J.Furusho, M.Uda, T.Yamaguchi
    • Journal Title

      Proceedings of the First International Conference on Positioning Conference on Positioning Technology

      Pages: 291-296

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Development of MR Actuator and Its Application to Force Display System2004

    • Author(s)
      Y.Yamaguchi, J.Furusho, S.Kimura, K.Koyanagi
    • Journal Title

      Proceedings of the 4th International Conference on Advanced Mechatronics

      Pages: 523-528

    • Related Report
      2004 Annual Research Report
  • [Publications] J.Furusho, K.Koyanagi, U.Ryu, A.Inoue, K.Oda: "Development of Rehabilitation Robot System with Functional Fluid Devices for Upper Limbs"International Journal of Human-friendly Welfare Robotic Systems. 4・2. 23-27 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] N.Takesue, J.Furusho, A.Inoue: "Influence of electrode configuration and liquid crystalline polymer type onelectrorheological effect"Journal of Applied Physics. 94・8. 5367-5373 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] K.Koyanagi, Y.Imada, J.Furusho, U.Ryu, A.Inoue, K.Takenaka: "3-D Rehabilitation Robot System for the Upper Limbs and its Force Display Techniques"Proceedings of the 13th International Conference on Artificial Reality and Telexistence. 215-221 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Y.Yamaguchi, J.Furusho, K.Koyanagi, S.Kimura: "Development of 2-D Force Display System Using MR Actuators"Proceedings of the 13th International Conference on Artifiial Reality and Telexistence. 185-190 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 古荘純次, 小柳健一: "機能性流体を用いたウェアラブルパワーアシストシステム(安全性に関する国際・国内基準に基づく研究開発)"フルードパワーシステム. 34・5. 121-127 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 小柳健一, 古荘純次: "ER流体ブレーキを用いた3次元力覚提示システム"日本機械学会ロボティクス・メカトロニクス講演会2003 講演論文集. 1A1-2F-F7 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] J.Furusho, M.Sakaguchi, N.Takesue, K.Koyanagi: "Development of ER Brake and Its Application to Passive Force Display"Journal of Intelligent Material Systems and Structures. (In press).

    • Related Report
      2002 Annual Research Report
  • [Publications] 李亨, 小柳健一, 増冨達明, 古荘純次: "力覚提示システムのためのコンパクト型歯付ベルト駆動系の特性に関する研究"日本機械学会論文集(C編). 69・677. 132-139 (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] 武居直行, 古荘純次, 岩越邦男: "二慣性系の慣性比と振動制御に関する一考察-駆動伝達リプルの振動抑制効果-"電気学会論文誌. 123-D・2. 149-155 (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] 小柳健一, 古荘純次, 笠潮, 井上昭夫: "医学教育への応用が可能な広動作域・高出力を持つ力感覚提示システムに関する研究"VR医学. 1・1. 64-71 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] K.Koyanagi, T.Inoue, J.Furusho: "Rehabilitation Application of Force Display System Using ER Fluid"Proceedings of the 6th International Conference on Motion and Vibration Control. 2. 831-836 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] K.Koyanagi, J.Furusho: "Study on High Safety Actuator for Force Display"Proceedings of SICE Annual Conference 2002. 3118-3123 (2002)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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