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Real-World Haptics for Motion Realization

Real-World Haptics for Motion Realization

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カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門(英文)

発行日: 2013/01/01

タイトル(英語): Real-World Haptics for Motion Realization

著者名: Takahiro Nozaki (School of Integrated Design Engineering, Keio University), Takahiro Mizoguchi (School of Integrated Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

著者名(英語): Takahiro Nozaki (School of Integrated Design Engineering, Keio University), Takahiro Mizoguchi (School of Integrated Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

キーワード: real-world haptics,position control,force control,coordinate transformation,acceleration control,functionality

要約(英語): This paper introduces the research field of real-world haptics that acts on real-world objects. This paper also reviews recent technical advances in real-world haptics, such as functionality and oblique coordinate control. As a catalyst for real-world haptics, a principle of this research area is explained through two simple examples: acceleration-based bilateral control and grasping/manipulating control. These two examples and the cited papers offer the view that a wide variety of system roles can be realized by combining pure position control and pure force control with an appropriate coordinate transformation. Real-world haptics has the capability of contributing toward supporting human activities.

本誌: IEEJ Journal of Industry Applications Vol.2 No.1 (2013) Special Issue on Motion Control and its Related Technologies

本誌掲載ページ: 2014/01/06 p

原稿種別: 論文/英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/2/1/2_1/_article/-char/ja/

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