2005 Fiscal Year Final Research Report Summary
A study on a Remote Arm-Wrestling System
| Project/Area Number |
15500123
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Ryukoku University |
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Principal Investigator |
TSUTSUMI Kazuyoshi Ryukoku University, Department of Mechanical and Systems Engineering, Professor, 理工学部, 教授 (30197735)
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| Project Period (FY) |
2003 – 2005
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| Keywords | Arm-Wrestling / Force / Position / Remote / Bidirectional Master-Slave / Control / Mechanical Impedance / Internet |
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| 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.
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