• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

A study on a Remote Arm-Wrestling System

Research Project

Project/Area Number 15500123
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionRyukoku University

Principal Investigator

TSUTSUMI Kazuyoshi  Ryukoku University, Department of Mechanical and Systems Engineering, Professor, 理工学部, 教授 (30197735)

Project Period (FY) 2003 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 2005: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 2004: ¥1,400,000 (Direct Cost: ¥1,400,000)
Fiscal Year 2003: ¥1,500,000 (Direct Cost: ¥1,500,000)
KeywordsArm-Wrestling / Force / Position / Remote / Bidirectional Master-Slave / Control / Mechanical Impedance / Internet / 双方向 / マスタ・スレーブ
Research Abstract

Mobile networks and the Internet have made rapid progress since 1990's, and a huge amount of information such as characters, pictures, and voice data is being exchanged every day. Although the exchange of force information is very effective for our ordinary communication between persons, their electronic studies are still being done inside laboratories, and the commercial systems are not realized yet. In this research, we paid attention to "arm-wrestling" and studied a "remote" arm-wrestling system in which two people in a different place exchanged the physical information such as position and force.
In the remote arm-wrestling system with multi-DOF, the defected information at one Force-Position I/O Device must be reconstructed at the other device for the real competition. This is obvious especially in an "arm type" system. It is also difficult for the arm type system to absorb the difference of constitutions between players. On the other hand, a "Cartesian coordinate type" system is an adjustable system in which the arm part with 3 DOF can move structurally in all directions. However, the system cannot draw the trajectory of arm-wrestling without any control software for applying appropriate constraints.
Under this situation, first, we precisely discussed about the structure of the device necessary to the actual competition, and we built and improved some prototypes taking into consideration of motion's smoothness and device's strength. Next, we built a system for measuring angles and torques at a wrist joint, and showed what were necessary DOFs in a wrist device for more realistic remote arm-wrestling. Based on this result, we designed and installed a new wrist device in the arm part of a remote arm-wrestling system. Furthermore, we designed and evaluated the controls that considered mechanical impedance ; as a result, human operation improved more than past control.

Report

(4 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (24 results)

All 2006 2005 2004 2003 Other

All Journal Article (21 results) Publications (3 results)

  • [Journal Article] 機械的インピーダンスを考慮した遠隔腕相撲システムに関する一考察2006

    • Author(s)
      山崎 博司 (他2名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会 '06講演論文集 (印刷中)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 強度面を改善した直交座標型遠隔腕相撲システムの設計と試作2006

    • Author(s)
      黒田 崇史 (他4名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会 '06講演論文集 (印刷中)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Study on a Remote Arm-Wrestling System in Consideration of Mechanical Impedance2006

    • Author(s)
      Hiroshi YAMASAKI, Koudai NAKAYAMA, Kazuyoshi TSUTSUMI
    • Journal Title

      Robotics and Mechatronics Conference 2006 (ROBOMEC'06 in Waseda) (印刷中)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Design and Prototype of a Cartesian Coordinate Type Remote Arm-Wrestling System with More Sturdy Structure2006

    • Author(s)
      Takashi KURODA, Kazumasa DOBASHI, Koudai NAKAYAMA, Hiroshi YAMASAKI, Kazuyoshi TSUTSUMI
    • Journal Title

      Robotics and Mechatronics Conference 2006 (ROBOMEC'06 in Waseda) (印刷中)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 機械的インピーダンスを考慮した遠隔腕相撲システムに関する一考察2006

    • Author(s)
      山崎 博司(他2名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会'06講演論文集 (印刷中)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 強度面を改善した直交座標型遠隔腕相撲システムの設計と試作2006

    • Author(s)
      黒田 崇史(他4名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会'06講演論文集 (印刷中)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 遠隔腕相撲システムにおける手首部の動作解析2005

    • Author(s)
      富江 敦 (他2名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会 '05講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] インピーダンス制御に基づく遠隔腕相撲システム2005

    • Author(s)
      中山 耕大 (他2名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会 '05講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Basic Study on Wrist Motion in a Remote Arm-Wrestling System2005

    • Author(s)
      Atsushi TOMIE, Hiroshi YAMASAKI, Kazuyoshi TSUTSUMI
    • Journal Title

      Robotics and Mechatronics Conference 2005 (ROBOMEC'05 in Kobe)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A Remote Arm-Wrestling System Based on Impedance Control2005

    • Author(s)
      Koudai NAKAYAMA, Hiroshi YAMASAKI, Kazuyoshi TSUTSUMI
    • Journal Title

      Robotics and Mechatronics Conference 2005 (ROBOMEC' 05 in Kobe)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 遠隔腕相撲システムにおける手首部の動作解析2005

    • Author(s)
      富江 敦(他2名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会'05講演論文集

    • Related Report
      2005 Annual Research Report
  • [Journal Article] インピーダンス制御に基づく遠隔腕相撲システム2005

    • Author(s)
      中山 耕大(他2名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会'05講演論文集

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 遠隔腕相撲システムにおける手首部の動作解析2005

    • Author(s)
      富江 敦(他2名)
    • Journal Title

      (社)日本機会学会 ロボティクス・メカトロニクス講演会 '05講演論文集 (発表予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] インピーダンス制御に基づく遠隔腕相撲システム2005

    • Author(s)
      中山 耕大(他2名)
    • Journal Title

      (社)日本機会学会 ロボティクス・メカトロニクス講演会 '05講演論文集 (発表予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 直交座標型遠隔腕相撲システムの試作2004

    • Author(s)
      山崎 博司 (他2名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会 '04講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Prototype of a Cartesian Coordinate Type of Remote Arm-Wrestling System2004

    • Author(s)
      Hiroshi YAMASAKI, Masaya SUGIMOTO, Kazuyoshi TSUTSUMI
    • Journal Title

      Robotics and Mechatronics Conference 2004 (ROBOMEC'04 in Nagoya)

    • NAID

      110004070053

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 直交座標型遠隔腕相撲システムの試作2004

    • Author(s)
      山崎 博司(他2名)
    • Journal Title

      (社)日本機会学会 ロボティクス・メカトロニクス講演会 '04講演論文集

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Relaxing in a Warped Space : An Effect Due to the Cooperation of Static and Dynamical Neurons2003

    • Author(s)
      Kazuyoshi TSUTSUMI (単著)
    • Journal Title

      Proc. of IEEE/INNS International Joint Conference on Neural Networks (IJCNN-2003)

      Pages: 897-901

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 遠隔腕相撲システムの多自由度化について2003

    • Author(s)
      北山 真也 (他4名)
    • Journal Title

      (社)日本機械学会 ロボティクス・メカトロニクス講演会 '03講演論文集

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Relaxing in a Warped Space : An Effect Due to the Cooperation of Static and Dynamical Neurons2003

    • Author(s)
      Kazuyoshi TSUTSUMI
    • Journal Title

      Proc.of IEEE/INNS International Joint Conference on Neural Networks (IJCNN-2003)

      Pages: 897-901

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] On the Enhancement of a Remote Arm-Wrestling System to a Multi-DOF System2003

    • Author(s)
      Shinya KITAYAMA, Kunihiko KANO, Wataru ISHIZUKA, Kenta KOMIYAMA, Kazuyoshi TSUTSUMI
    • Journal Title

      Robotics and Mechatronics Conference 2003 (ROBOMEC'03 in Hakodate)

    • NAID

      110002506091

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Publications] Kazuyoshi Tsutsumi(単著): "Relaxing in a Warped Space : An Effect Due to the Cooperation of Static and Dynamical Neurons"Proc.of International Joint Conference on Neural Networks (IJCNN2003-Portland). 897-901 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 北山真也(他4名): "遠隔腕相撲システムの多自由度化について"日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集. 1P1-1F-B2. (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 山崎 博司(他2名): "直交座標型遠隔腕相撲システムの試作"日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集. 印刷中. (2004)

    • Related Report
      2003 Annual Research Report

URL: 

Published: 2003-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi