Fine Reproduction of Haptic Sensations for High-Stiffness Environment Considering Mechanical Admittance

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: 2016/11/01

タイトル(英語): Fine Reproduction of Haptic Sensations for High-Stiffness Environment Considering Mechanical Admittance

著者名: Yuki Yokokura (Nagaoka University of Technology), Yusuke Asai (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology)

著者名(英語): Yuki Yokokura (Nagaoka University of Technology), Yusuke Asai (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology)

キーワード: momentum control，admittance control，motion control，real-world haptics

要約(英語): This paper focuses on storage and reproduction systems of environmental haptic sensations. In the conventional reproduction system, the command values of the system are generated from the environmental haptic memories that correspond to the position of the actuator. Because the environmental information, which are stored in the memories depending on the position, become insufficient, the conventional method is difficult to treat the high-stiffness environment. To solve this problem, this paper newly proposes storage and reproduction systems of haptic sensations based on admittance control. The proposed system generates the position command corresponding to the force response of the actuator. Therefore, the proposed reproduction system is able to reproduce the haptic sensations of high-stiffness environments. The effectiveness of the proposed method is confirmed by the experiment.

本誌: IEEJ Journal of Industry Applications Vol.5 No.6 （2016）

本誌掲載ページ: 439-440 p

原稿種別: 研究開発レター／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/5/6/5_439/_article/-char/ja/