| ID | 33065 |
| FullText URL | |
| Author |
Takaiwa, Masahiro
Kaken ID
researchmap
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| Abstract | <P>The goal of this study is to develop a mechanical system which display elastic characteristic like stiffness on the surface of human body aiming at applying to palpation simulator. Pneumatic parallel manipulator is employed as a driving mechanism, consequently, it brings capability of minute force displaying property owing to the air compressibility. Compliance control system without using force/moment sensor is constructed by introducing a disturbance observer and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally. |
| Keywords | compliance control
compressibility
display devices
elastic constants
manipulators
observers
pneumatic actuators
|
| Note | Digital Object Identifier: 10.1109/ROBOT.2003.1242227
Published with permission from the copyright holder. this is the institute's copy, as published in Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, 14-19 Sept. 2003, Volume 3, Pages 4098-4103. Publisher URL:http://dx.doi.org/10.1109/ROBOT.2003.1242227 Copyright © 2003 IEEE. All rights reserved. |
| Published Date | 2003-09-13
|
| Publication Title |
Robotics and Automation
|
| Volume | volume3
|
| Start Page | 4098
|
| End Page | 4103
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | mechanical_engineering/13
|
