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Content Provider | IEEE Xplore Digital Library |
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Author | Uozumi, S. Shimizu, S. Matsunaga, T. Nakano, T. Ohnishi, K. |
Copyright Year | 2015 |
Description | Author affiliation: Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan (Uozumi, S.; Shimizu, S.; Matsunaga, T.; Nakano, T.; Ohnishi, K.) |
Abstract | The objective of this study is to propose the master-slave tendon-driven haptic robot hand system using Twist Drive. Twist Drive is one of transmission systems which is consisted of a pair of strings and rotary motor. This transmission system converts torque into a high pulling force by using a pair of strings twisted on each other. In this paper, Twist Drive system is verified at first. Next, Twist Drive system is implemented to the master-slave tendon-driven robot hand system to realize the downsizing of the actuator part. In order to realize haptic transmission, a method which can achieve 4ch-bilateral control and tendon-driven control, simultaneously is implemented. Here, to achieve the tendon-driven control, a method to keep the wire tension using compliance control based on hybrid angle is realized. The effect of the proposed system is verified through experiments. |
Starting Page | 553 |
Ending Page | 558 |
File Size | 3412605 |
Page Count | 6 |
File Format | |
ISBN | 9781479978007 |
DOI | 10.1109/ICIT.2015.7125157 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2015-03-17 |
Publisher Place | Spain |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Robots Force Actuators Gears Haptic interfaces Joints Aerospace electronics haptic robot hand Twist Drive tendon drive tension control 4ch-bilateral control |
Content Type | Text |
Resource Type | Article |
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