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ID 33065
フルテキストURL
著者
Takaiwa, Masahiro Okayama University
Noritsugu, Toshiro Okayama University
抄録

<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.

キーワード
compliance control
compressibility
display devices
elastic constants
manipulators
observers
pneumatic actuators
備考
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.
発行日
2003-09-13
出版物タイトル
Robotics and Automation
3巻
開始ページ
4098
終了ページ
4103
資料タイプ
学術雑誌論文
言語
English
査読
有り
DOI
Submission Path
mechanical_engineering/13