| 研究課題/領域番号 |
15K18009
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| 研究機関 | 早稲田大学 |
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研究代表者 |
汪 偉 早稲田大学, 理工学術院, 助教 (10598915)
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| 研究期間 (年度) |
2015-04-01 – 2017-03-31
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| キーワード | force control |
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| 研究実績の概要 |
The purpose of this research is to develop a human-robot interface enabled with high bandwidth force serving. In this year, a one degree of freedom actuator was carefully designed and fabricated. The one degree of freedom actuator will acts as the key component of our final human-robot interface which is able for high bandwidth force serving. The actuator is consists of a geared motor in series connection with a well designed bending spring, and a high precision optical displacement sensor to measure spring. The bending spring is designed with careful calculation of its mechanics behavior in order not to exceed the elastic elongation range of the material. The optical displacement sensor is able to measure um level bending of the spring, which make it possible to implement a stiff but high bandwidth force actuator. The actuator was assembled and tested for evaluation of the design.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
The one degree of freedom actuator was carefully designed and fabricated. It is the most important step for the research. However, only simple test was conducted for the actuator, because the design and fabrication need to be rectified for several times. The algorithms and applications will be left to the job of this year.
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| 今後の研究の推進方策 |
The main task of this year was to develop algorithms for the actuator with respect to different applications, and also a complete human-robot interface will be fabricated which making use of the actuator.
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