2022/12/08 更新

写真a

オウ イ
汪 偉
Scopus 論文情報  
論文数: 0  Citation: 0  h-index: 4

Citation Countは当該年に発表した論文の被引用数

所属
研究院(研究機関) 次世代ロボット研究機構
職名
次席研究員(研究院講師)

他学部・他研究科等兼任情報

  • 附属機関・学校   グローバルエデュケーションセンター

  • 理工学術院   大学院基幹理工学研究科

 

Misc

  • Development of an optical sensor based torque regulation system with friction observer

    Chang Wei, Wei Wang, Chiahao Kuo, Quanhe Li, Shigeki Sugano

    SII 2017 - 2017 IEEE/SICE International Symposium on System Integration   2018-January ( SII ) 869 - 874  2018年02月

     概要を見る

    © 2017 IEEE. Physical human robot interaction has drawn widely interest and is going to be future trend. To realize this, impedance shaping, the ability to achieve an arbitrary impedance behavior is required. In this paper, we introduce an optical sensor based torque regulation method to realize large range impedance shaping, and we design a friction observer to improve positioning accuracy. Experimental results are presented to show it excellent performance.

    DOI J-GLOBAL

  • Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation

    Wang Wei, Wei Chang, Suga Yuki, Kuo Chiahao, Schmitz Alexander, Sugano Shigeki

    IEEE Robotics and Automation Letters   3 ( 1 ) 187‐194  2018年

    DOI J-GLOBAL

  • Friction observer design for optical sensor based torque control

    WEI Chang, WANG Wei, KUO Chiahao, SUGANO Shigeki

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   ROMBUNNO.1C3‐01  2017年09月

    J-GLOBAL

  • Exploiting the slip behavior of friction based clutches for safer adjustable torque limiters

    Yushi Wang, Alexander Schmitz, Kento Kobayashi, Javier Alejandro Alvarez Lopez, Wei Wang, Yuki Matsuo, Yoshihiro Sakamoto, Shigeki Sugano

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2017 ( AIM ) 1346 - 1351  2017年08月

     概要を見る

    Torque limiters are a proven way to enhance the safety in robots. To further increase the safety, adjustable torque limits depending on the task and the joint configuration (joint angles, velocity, acceleration) would be preferable. Friction clutches can be used as adjustable torque limiters (ATL). In contact free motion the ATL can be set with torque limits higher than the required torque, thereby not influencing the position tracking performance. At an impact, the torque is intrinsically limited, enhancing the safety. Furthermore, depending on the implementation, friction clutches have another relevant property. They can have different torque limits for static and kinetic friction: When the static torque limit is exceeded (as it would be the case in an incidental contact situation), the clutch starts slipping, and the torque output automatically decreases, thereby reducing the forces in a quasi-static contact, as defined in ISO/TS 15066:2016. The current paper implements and profiles an ATL, which exhibits a kinetic torque limit of only 50.4% of the static torque limit at 10rpm. This ensures both an adjustable torque limit fitting to the task requirement and a lower but not zero torque after impact for enhanced safety. Impact experiments validate the safety benefits outlined above.

    DOI J-GLOBAL

  • Improving IMES Localization Accuracy by Integrating Dead Reckoning Information

    Kenjiro Fujii, Hiroaki Arie, Wei Wang, Yuto Kaneko, Yoshihiro Sakamoto, Alexander Schmitz, Shigeki Sugano

    SENSORS   16 ( 2 ) WEB ONLY  2016年02月

     概要を見る

    Indoor positioning remains an open problem, because it is difficult to achieve satisfactory accuracy within an indoor environment using current radio-based localization technology. In this study, we investigate the use of Indoor Messaging System (IMES) radio for high-accuracy indoor positioning. A hybrid positioning method combining IMES radio strength information and pedestrian dead reckoning information is proposed in order to improve IMES localization accuracy. For understanding the carrier noise ratio versus distance relation for IMES radio, the signal propagation of IMES radio is modeled and identified. Then, trilateration and extended Kalman filtering methods using the radio propagation model are developed for position estimation. These methods are evaluated through robot localization and pedestrian localization experiments. The experimental results show that the proposed hybrid positioning method achieved average estimation errors of 217 and 1846 mm in robot localization and pedestrian localization, respectively. In addition, in order to examine the reason for the positioning accuracy of pedestrian localization being much lower than that of robot localization, the influence of the human body on the radio propagation is experimentally evaluated. The result suggests that the influence of the human body can be modeled.

    DOI J-GLOBAL

  • Improving IMES Localization Accuracy by Integrating Dead Reckoning Information

    Kenjiro Fujii, Hiroaki Arie, Wei Wang, Yuto Kaneko, Yoshihiro Sakamoto, Alexander Schmitz, Shigeki Sugano

    SENSORS   16 ( 2 )  2016年02月

     概要を見る

    Indoor positioning remains an open problem, because it is difficult to achieve satisfactory accuracy within an indoor environment using current radio-based localization technology. In this study, we investigate the use of Indoor Messaging System (IMES) radio for high-accuracy indoor positioning. A hybrid positioning method combining IMES radio strength information and pedestrian dead reckoning information is proposed in order to improve IMES localization accuracy. For understanding the carrier noise ratio versus distance relation for IMES radio, the signal propagation of IMES radio is modeled and identified. Then, trilateration and extended Kalman filtering methods using the radio propagation model are developed for position estimation. These methods are evaluated through robot localization and pedestrian localization experiments. The experimental results show that the proposed hybrid positioning method achieved average estimation errors of 217 and 1846 mm in robot localization and pedestrian localization, respectively. In addition, in order to examine the reason for the positioning accuracy of pedestrian localization being much lower than that of robot localization, the influence of the human body on the radio propagation is experimentally evaluated. The result suggests that the influence of the human body can be modeled.

    DOI

  • Hyperbolic Positioning with Antenna Arrays and Multi-Channel Pseudolite for Indoor Localization

    Kenjirou Fujii, Yoshihiro Sakamoto, Wei Wang, Hiroaki Arie, Alexander Schmitz, Shigeki Sugano

    SENSORS   15 ( 10 ) 25157 - 25175  2015年10月

     概要を見る

    A hyperbolic positioning method with antenna arrays consisting of proximately-located antennas and a multi-channel pseudolite is proposed in order to overcome the problems of indoor positioning with conventional pseudolites (ground-based GPS transmitters). A two-dimensional positioning experiment using actual devices is conducted. The experimental result shows that the positioning accuracy varies centimeter- to meter-level according to the geometric relation between the pseudolite antennas and the receiver. It also shows that the bias error of the carrier-phase difference observables is more serious than their random error. Based on the size of the bias error of carrier-phase difference that is inverse-calculated from the experimental result, three-dimensional positioning performance is evaluated by computer simulation. In addition, in the three-dimensional positioning scenario, an initial value convergence analysis of the non-linear least squares is conducted. Its result shows that initial values that can converge to a right position exist at least under the proposed antenna setup. The simulated values and evaluation methods introduced in this work can be applied to various antenna setups; therefore, by using them, positioning performance can be predicted in advance of installing an actual system.

    DOI J-GLOBAL

  • Hyperbolic Positioning with Antenna Arrays and Multi-Channel Pseudolite for Indoor Localization

    Kenjirou Fujii, Yoshihiro Sakamoto, Wei Wang, Hiroaki Arie, Alexander Schmitz, Shigeki Sugano

    SENSORS   15 ( 10 ) 25157 - 25175  2015年10月

     概要を見る

    A hyperbolic positioning method with antenna arrays consisting of proximately-located antennas and a multi-channel pseudolite is proposed in order to overcome the problems of indoor positioning with conventional pseudolites (ground-based GPS transmitters). A two-dimensional positioning experiment using actual devices is conducted. The experimental result shows that the positioning accuracy varies centimeter- to meter-level according to the geometric relation between the pseudolite antennas and the receiver. It also shows that the bias error of the carrier-phase difference observables is more serious than their random error. Based on the size of the bias error of carrier-phase difference that is inverse-calculated from the experimental result, three-dimensional positioning performance is evaluated by computer simulation. In addition, in the three-dimensional positioning scenario, an initial value convergence analysis of the non-linear least squares is conducted. Its result shows that initial values that can converge to a right position exist at least under the proposed antenna setup. The simulated values and evaluation methods introduced in this work can be applied to various antenna setups; therefore, by using them, positioning performance can be predicted in advance of installing an actual system.

    DOI

  • 2A1-O03 ロボットのための電波伝搬モデルを用いたIMES測位の精度向上に関する研究

    金子 雄人, 汪 偉, 坂本 義弘, 有江 浩明, 藤井 健二郎, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2015 ( 0 ) _2A1 - O03_1-_2A1-O03_3  2015年

     概要を見る

    In this paper, a novel technique for high-accuracy indoor positioning using a GPS-compatible positioning system called IMES (Indoor Messaging System) is proposed, especially aiming to apply it to robot navigation. The radio wave propagation is modeled in order to obtain the distances between IMES transmitters and a receiver. The position of the receiver is calculated based on the principle of triangulation with those distances. In addition, an Extended Kalman filter combined with the travel distance acquired from wheel encoders of a robot is used to smooth the positioning result. The result of a positioning experiment shows that the positioning accuracy more than 1 meter is achievable without giving an initial position and direction to the robot.

    CiNii

  • A Concept for a Robot Arm with Adjustable Series Clutch Actuators and Passive Gravity Compensation for Enhanced Safety

    Alexander Schmitz, Soumya Bhavaraju, Sophon Somlor, Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Wei Wang, Shigeki Sugano

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2015-August   1322 - 1327  2015年

     概要を見る

    Passive compliance is useful for robotic arms to ensure their safety. Often springs are used, but they are problematic because they reduce the achievable accelerations and can lead to underdamped oscillations. Torque limiters enhance the safety, but usually the torque limit cannot be adjusted to a desired torque. Electronically adjustable torque limiters, also known as series clutch actuators, have several benefits, especially for robotic arms, but they also have severe limitations. This paper suggests incorporating series clutch actuators into a gravity compensated arm. Consequently, gravity should not limit the isotropically achievable force anymore and in the case of power outage the arm keeps its position. The benefits and limitations of a series clutch actuator in a gravity compensated arm are discussed, and a prototype of such an arm is presented. Commercially available magnetic friction clutches are used. Preliminary experiments demonstrate that the safety can be increased.

    DOI

  • Accurate Indoor Positioning using IMES Radio

    Kenjiro Fujii, Wei Wang, Yuto Kaneko, Yoshihiro Sakamoto, Hiroaki Arie, Shigeki Sugano

    2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION     1966 - 1971  2015年

     概要を見る

    Indoor positioning still remains as an open problem, for the reason that it is difficult to achieve a satisfactory level of accuracy within indoor environment, using current radio based localization technology. Thus we try to investigate the utilization of IMES radio for high accuracy indoor positioning, because of its higher resolution radio map. Signal propagation model of IMES radio has been well investigated, based on which algorithms of trilateration and extended kalman filter are developed for both static and dynamic localization of a mobile robot using IMES radio. Experiments results show that a higher localization accuracy could be achieved.

    DOI

  • Methods for Improving IMES Transmitters: Transmission Diversity, Variable Beamwidth Antenna, and Leaky Coaxial Cable

    Kenjiro Fujii, Takamasa Kawaguchi, Hisanori Matsumoto, Makoto Tanikawara, Takashi Toyama, Yoshihiro Sakamoto, Wei Wang, Hiroaki Arie, Alexander Schmitz, Shigeki Sugano

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     326 - 331  2015年

     概要を見る

    IMES is an indoor messaging and positioning system. In the present work, three methods for improving the IMES transmitter are proposed based on the result of a radio acquisition analysis: transmission diversity, a variable beamwidth antenna, and a leaky coaxial cable (LCX). The transmission diversity method increases the possibility of signal acquisition in areas with weak signal. A small-sized variable beamwidth antenna is developed to mitigate the multipath interference in narrow spaces. A field experiment with a LCX in an actual train setup is conducted to verify the effect of the LCX for the positioning of moving vehicles. The evaluation results of the proposed methods suggest their potential to be applied to practical applications.

    DOI

  • Output Torque Regulation through Series Elastic Actuation with Torsion Spring Hysteresis

    Wei Wang, Shigeki Sugano

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     701 - 706  2014年

     概要を見る

    Series elastic actuation (SEA) has been widely used for output force/torque regulation, however, the non-linearity introduced by its torsion spring hysteresis will greatly affect the quality of feedback control. Thus an experimental procedure is conducted for the modeling and identification of spring hysteresis effect, based on which a compensated control scheme is given. Experiment results show that the compensated control can improve the control performance compared with ordinary linear controller.

    DOI

  • Intuitive operation of a wheelchair mounted robotic arm for the upper limb disabled: The mouth-only approach

    Wei Wang, Zeming Zhang, Yuki Suga, Hiroyasu Iwata, Shigeki Sugano

    2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest     1733 - 1740  2012年12月

     概要を見る

    A new interfacing device that enables intuitive operation of a wheelchair mounted robotic arm is proposed. Three kinds of physical signals: jaw movement, breathing strength and head movement are captured using this device, and then be used to drive motion primitives of robotic arm in an intuitive way. This device is designed to operate in a mouth-only manner, thus enables usage for the upper limb disabled. Experiments are also conducted making use of this device and wheelchair mounted robotic arm to complete tasks in activities of daily living. © 2012 IEEE.

    DOI

  • Towards Intuitive Manipulation of an Assistive Robotic Arm for Human Living Support

    WANG Wei, ZHANG Zeming, SUGA Yuki, IWATA Hiroyasu, SUGANO Shigeki

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   ROMBUNNO.2D2-3  2012年09月

    J-GLOBAL

  • 2A1-V06 車椅子搭載型ロボットアームを操作するための6自由度オーラルインターフェースの開発 : 下顎運動と呼吸運動の利用(福祉ロボティクス・メカトロニクス(2))

    張 哲明, 汪 偉, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2012 ( 0 ) _2A1 - V06_1-_2A1-V06_3  2012年

     概要を見る

    In this research, we are currently developing a 6-Dof oral Interface in order to help quadriplegic patients operate a wheelchair mounted robotic arm independently. We are focusing on building a device capable of measuring the amount of jaw's movement and respiratory pressure and changing it into electronic signals by using joysticks and air-pressure sensors. We come up with a control method which is adapted to the robot arm's 6-Dof tool coordinate system and can be used to operate the wheelchair mounted robotic arm without using hands or legs. The device can be installed instantly by connecting it to the computers with a single USB cable. The device is in a small size of 220×200×90[mm] and weighs 680[g] for compact purpose.

    CiNii

  • Solve Inverse Kinematics Through A New Quadratic Minimization Technique

    Wei Wang, Yuki Suga, Hiroyasu Iwata, Shigeki Sugano

    2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     306 - 313  2012年

     概要を見る

    A new technique was developed to solve inverse kinematics based on quadratic minimization. Firstly the inverse kinematic problem was formulated as a quadratic minimization problem through the constitution of a quadratic objective function derived from quaternion based kinematic description, then a new technique is developed to solve the quadratic minimization problem. The iteration procedures of the new technique are organized in two main phases: compute the search direction based on dynamic system synthesis; seek for acceptable step along the search direction. Numerical examples showed that inverse kinematic solutions can be delivered in a robust and time-efficient way, to meet the requirements coming across in the application field of every daily living support.

    DOI

  • 2P1-F01 オートグラスピングが可能な車椅子搭載型ロボットハンドの開発(福祉ロボティクス・メカトロニクス(1))

    松尾 雄希, 汪 偉, 菅 佑樹, 岩田 浩康, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2011 ( 0 ) _2P1 - F01_1-_2P1-F01_4  2011年

     概要を見る

    In this research, we are currently developing a robotic arm which is mounted on a wheel chair to help disabled people in daily life. But it is difficult for these people to manipulate it by using a joystick. So we aim to make an automatic manipulator, and this year, we developed a robot hand which can grasp objects automatically. This time we tried 3 tasks. They are to grasp a PET bottle, a straw and a handle. To realize these tasks, this robot hand has 30[N] grip force produced with four-bar linkage system, and carries a supersonic sensor, infrared proximity sensors and pressure sensors. Finally we succeeded to create a map of environment, and to carry out them.

    CiNii

  • OpenVR: A software tool contributes to research of robotics

    Wei Wang, Yuki Suga, Hiroyasu Iwata, Shigeki Sugano

    2011 IEEE/SICE International Symposium on System Integration, SII 2011     1043 - 1048  2011年

     概要を見る

    This paper gives an overview of OpenVR, a software tool that is able to construct a virtual robot and its working environment from CAD source files. The virtual robot can be played with the same as a real robot by providing corresponding controller and sensor interfaces, thus contribute to the research of robotics in concept visualization, robot design, and algorithm and software development. General purposed algorithms are also given to simplify the effect for the execution of complex manipulation tasks. © 2011 IEEE.

    DOI

  • Contact detection and reaction of a wheelchair mounted robotic arm equiped with mechanical gravity canceller

    Wei Wang, Yuki Suga, Shigeki Sugano

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings     4378 - 4383  2010年12月

     概要を見る

    Safety issue has become the primary concern in wheelchair mounted robotic arm applications. We introduced mechanical gravity canceller in the design to realize a light weight manipulator, which also yield the greatly simplify of manipulator dynamics. Based on the simplified dynamics, sensor based contact detection can be easily implemented to enable safety. Contact reaction schemes are also applied through a impedance control law to achieve desired backdrivability. Experiments are conducted to illustrate the proposed method. ©2010 IEEE.

    DOI

  • Task execution support of a wheelchair mounted robotic arm in activity of daily livings

    Wei Wang, Yuki Suga, Shigeki Sugano

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM     201 - 206  2010年12月

     概要を見る

    In order to relieve the user cognitive burden as well as time consumption of task execution for the "wheelchair mounted robotic arm" application, we proposed a "Task knowledge representation" method that is able to model a large number of tasks coming across in activity of daily livings. Based on the mathematically represented task knowledge, a "Dynamical exploring method" was applied to explore the feasible and optimal robot action sequences that are executed automatically to accomplish the task execution. An integration framework to manage the system complexity is also introduced based on the RT middleware technology. Experiment was conducted to validate our method through the execution of a robotic scenario. © 2010 IEEE.

    DOI

  • Human in loop integration of an arm mounted wheelchair robot based on RT middleware

    Wei Wang, Yuki Suga, Shigeki Sugano

    Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010   1   387 - 392  2010年12月

     概要を見る

    We have developed an wheelchair mounted robotic arm system that consist of a light weight robotic arm, powerwheelchar, external sensors, and interfacing devices. In order to manage the system complexity, and build an effective and reliable integrated human in loop system based on our hardware platform, a integration architecture is proposed, which employed an "system process/service provider" integrative framework, and a a hierarchical design of system modules. The "RT Middleware" technology is adopted as the software platform for implementation issues.

  • Human in loop Integration of a Wheelchair Mounted Robotic Arm through Brain Machine Interface

    WANG Wei, NISHI Yuuki, SUGA Yuki, SUGANO Shigeki

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2010   ROMBUNNO.1A2-F09  2010年06月

    J-GLOBAL

  • 1A1-D14 収納機構を備えた軽量・コンパクトな車椅子搭載型ロボットアームの開発

    西 佑起, 鳥井 勝彦, 長縄 正裕, 汪 偉, 菅 佑樹, 岩田 浩康, 菅野 重樹, 森田 寿郎, 千原 健司, 稲葉 昭夫, 中西 快夫

    ロボティクス・メカトロニクス講演会講演概要集   2010 ( 0 ) _1A1 - D14_1-_1A1-D14_2  2010年

     概要を見る

    In this research, we are currently developing a robotic arm which is mounted on a wheel chair to help some disabled people in daily living. The robotic arm should be safe and compact, so we installed a weight-compensating mechanism into the robotic arm to reduce its actuators' weight. And we can put away the robotic arm in storage area on the wheelchair. In this paper, newly developed robotic arm is shown. It is 7 D.O.F. Robotic arm with the weight-compensating mechanism and a simple gripper hand. It is 1070 [mm] long, and it weighs 5.05 [kg]. We confirmed 2.0 [kg] maximum load and the same height as the armrest with storage position.

    CiNii

  • Task execution of a wheelchair mounted robotic arm incorporated with active compliance control

    Wei Wang, Yuuki Nishi, Shigeki Sugano

    Proceedings of the SICE Annual Conference     3472 - 3474  2010年01月

     概要を見る

    Wheelchair mounted robotic arm is an assistive device designed to help physical disabled people to recover some manipulation capabilities in activities of daily livings. During task execution of wheelchair mounted robotic arm applications, both the requirement of safety and task accomplishment has to be satisfied. We have developed a wheelchair mounted robotic arm with mechanical gravity compensation, two torque sensors are mounted on the base joints to realized a sensor based active compliance control, thus a control structure is proposed to unify task oriented control and compliance control, the propsed control structure enable task execution even during an external collision. © 2010 SICE.

  • 2A1-D06 RTミドルウェアを用いた車椅子搭載型ロボットアーム・システムの開発

    菅 佑樹, 汪 偉, 菅野 重樹

    ロボティクス・メカトロニクス講演会講演概要集   2009 ( 0 ) _2A1 - D06_1-_2A1-D06_4  2009年

     概要を見る

    To help those who are using electric-powered wheelchairs, we are developing a robotic arm which is used for picking up things on the floor, scraching at their body, drinking, and so on. These helthcare devices should be developed and customized to their uses' symptoms. In consideration of those requirements, we have introduced RT middleware into the wheelchair robot system. The RT middleware is the software platform in which all functional units are composed to an 'RT-Component'. In this paper, the developed RT-components are shown in detail, and their reusability and customizability are discussed. Finally, we show that three types of RT-components which are "hardware orientedly" designed are re-used in the other projects in our laboratory.

    CiNii

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産業財産権

  • 機械装置の動力伝達システム

    シュミッツ, アレクサンダー, 汪 偉, オルガド, アレクシス, カルロス, 許 ▲晋▼誠, 小林 健人, アルバレス, ロペス, ハビエル, 王 語詩, 菅野 重樹

    特許権

    J-GLOBAL

  • トルクリミッタ

    シュミッツ, アレクサンダー, 汪 偉, オルガド, アレクシス, カルロス, 許 ▲晋▼誠, 小林 健人, アルバレス, ロペス, ハビエル, 王 語詩, 菅野 重樹

    特許権

    J-GLOBAL

  • 接触力調整エンドエフェクタ

    汪 偉, 許 ▲晋▼誠, シュミッツ, アレクサンダー, オルガド, アレクシス カルロス, 小林 健人, アルバレス, ロペス, ハビエル, 菅野 重樹

    特許権

    J-GLOBAL

  • ロボットアームの制御システム

    シュミッツ, アレクサンダー, ババラジュ ソウミヤ, 坂本 義弘, アギーレ, ドミンゲス ゴンザロ, 佐藤 立樹, 汪 偉, 菅野 重樹

    特許権

    J-GLOBAL

共同研究・競争的資金等の研究課題

  • The Research on Human Robot Interface Enabled with High Bandwidth Force Servoing for Manipulation of Robotic Arm

    科学研究費助成事業(早稲田大学)  科学研究費助成事業(若手研究(B))

学内研究費(特定課題)

  • The Research on Impedance Shaping Enabled Interface Device for Robotic Arm Manipulation

    2014年  

     概要を見る

    In this research, a human robot interfacedevice enabled with force shaping was developed. This interface was designed asan one DOF stick-like device. During human's interaction with this device, theforce that human sense can be shaped accordingly, through the force controltechnology. Thus, human could feel different force according to differentapplications, which benefit the intuitive and effectiveness of human robotinteraction. Force shaping of the device was implemented through a series elasticactuation method. A elastic spring was placed between the handle for userinteraction and the motor, thus the force that human sense can be shapedthrough the displacement control of the spring. However, the nonlinear hysteresiseffect of spring will greatly affect the precise force shaping. Thus wedesigned and carried out an experiment to identify and model the springhysteresis, based on which a compensated control scheme was developed thatsuppress the hysteresis nonlinearity and guarantee force control performance.The results was published in a international conference as follows.Wei WANG, ShigekiSUGANO, "Output Torque Regulation through Series Elastic Actuation withTorsion Spring Hysteresis", in Proceeding of IEEE International Conferenceon Robotics and Biomimetics (ROBIO'14), December 5-10, 2014, Bali Indonesia.

 

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