Search Results 1-20 of 895

  • PDS Based Bilateral Control System of Flexible Master-Slave Arms with Random Delay Considering Contact with Obstacle

    Yagi Masaharu , Idei Genki , Sawada Yuichi

    … <p>A PDS based bilateral control system of flexible master-slave arms with random delay is investigated in this paper. … Moreover, a flexible slave arm employed in this research is affected by a contact force. … A rigid master arm and a flexible slave arm which is actuated by a high-geared servomotor construct the proposed bilateral control system. …

    Transactions of the Institute of Systems, Control and Information Engineers 32(1), 8-15, 2019

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  • MASTER-SLAVE SYNCHRONIZATION OF ZHANG AND LORENZ CHAOTIC SYSTEMS WITH UNCERTAIN PARAMETERS, AN ACTIVE NONLINEAR FEEDBACK CONTROLLER

    TIRANDAZ HAMED , KARAMI-MOLLAEE ALI

    ICIC express letters. Part B, Applications : an international journal of research and surveys 9(1), 11-16, 2018-01

  • Wearable leg support system with bilateral control:(Verification of effectiveness by step ascent and descent test)  [in Japanese]

    TAKIGUCHI Eiji , SUZUKI Tomohiro , KONDO Ryou , OKADA Yohji , KITAYAMA Fumiya

    … This paper is concerned with the application of bilateral control for the operation of the leg support system for people with hemiplegia. … We developed a wearable leg support system Manipuleg-2 with actuators on the hip, knee and ankle. … In that system, the control lever only detects the posture of the wearer’s arm, which is transformed to command signals for the leg actuators but could not produce forces for the wearer ’s hand. …

    The Proceedings of Ibaraki District Conference 2018.26(0), 504, 2018

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  • Master-sleve system based on virtual internal model using Deep Q-Network  [in Japanese]

    SUGIMOTO SOHEI , TAKASHIMA AKIHIKO

    … <p>In the existing master-slave system, the design of the control parameters is performed in the heuristics, and veteran designers and workers are needed. … As a result of verifying the method using simulation, we could not realize master - slave control. …

    The Proceedings of Mechanical Engineering Congress, Japan 2018(0), G1500204, 2018

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  • Bilateral Control System of Flexible Master-Slave Arms with Random Delay Affected by Contact Force with Obstacle

    Yagi Masaharu , Idei Genki , Sawada Yuichi

    Proceedings of the ISCIE International Symposium on Stochastic Systems Theory and its Applications 2018(0), 63-69, 2018

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  • Speed Control Using Dynamic Inversion with Different Configurations Master Slave Arm

    TOKIEDA Yoshiki , YOSHIDA Hiroaki

    … Same configuration master slave system is employed for intuitive operation. … However, this same configuration system forces heavy load on the operator in repetitious operation. … Different configuration master slave system can avoid this problem. …

    Journal of Research Institute of Science and Technology, College of Science and Technology, Nihon University 2018(143), 143_1-143_7, 2018

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  • Robotic pelvis orthosis with bilateral control for post stroke rehabilitation  [in Japanese]

    SAKAI Nobuo , HAYASHI Katsuki , KOBA Yuki , MATSUDA Takafumi , KOMORI Mochimitsu , IBAYASHI Setsuro , MURAKAMI Teruo

    … Each device was connected the other by bilateral master-slave control (or multi-lateral control within control wheel and two pelvis motor orthosis). … The bilateral master-slave robotic orthosis system was successfully developed in the current state. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2P2-F06, 2018

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  • Development of Robot Control System Using Dynamics Simulator  [in Japanese]

    NEGISHI Tomoya , HINO Yoshikazu , MARUYAMA Keisuke , AKIMOTO Toshinari

    … <p>At present, development of a robotic steering system using a master slave is being carried out. … However, the master slave requires one controller per robot. … In order to realize this, we model a current robot maneuvering system in the dynamics simulator with the same joint arrangement as the robot. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2P2-H14, 2018

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  • 3-dimensional Attitude Control for a Low-cost and High-speed AUV  [in Japanese]

    NOGUCHI Yukiyasu , HORIMOTO Hiroumi , MAKI Toshihiro

    … <p>This paper introduces a 3-dimensional attitude control system for AUV (Autonomous Underwater Vehicle) HATTORI. … In the 3-dimensional attitude control system, the AUV controls its 3-dimensional attitude by controlling angular velocities based on quaternion's Slerp (Spherical Linear intERPolation) with low-cost hardwares. … We succeeded in controlling HATTORI's 3-dimensional attitude by master-slave. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2P2-B11, 2018

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  • Learning Assist System for Nursing Massage utilizing of ELSA:-Proposal of a haptic interface device by a master-slave method -  [in Japanese]

    KURASUMI Tetsuya , NISHIOKA Yasutaka , YASUDA Toshihiko , YAMANO Mitsuhiro

    … In this research, as a quantitative learning method of massage technique, we propose a master-slave type learning assist system with a haptic presentation device using an extremely lightweight soft actuator (ELSA). …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2P1-H03, 2018

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  • Prediction of hand motion of operator on a master-slave system  [in Japanese]

    LIU Yang , GUO Chuanyu , MARUYAMA Tomohiro , MAZUZAKA Ayaka , SHIRATO Takuya , NAMIKI Akio

    … In such robots, master-slave control that allows an operator to make a situation determination is suitable. … However for some tasks, only master-slave control is not enough, appropriate autonomous assist control is needed for this situation. … The propose of this study is to develop a control algorithm to assist task operation on a master slave system. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A2-L06, 2018

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  • A Scale-Gain Adjustment Method for Master-Slave System Considering Complexity, Continuity, and Time Limitation in Disaster Response Work  [in Japanese]

    KAMEZAKI Mitsuhiro , ETO Takahiro , SATO Ryuya , IWATA Hiroyasu

    … <p>This study proposes a scale-gain adjustment method for same structure type master-slave systems (SSMS), considering complexity, continuity, and time-limitation in disaster response work. … SSMS systems have advantages in which master's movement itself can connect directly to slave's movement. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A2-M02, 2018

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  • Preliminary Evaluation of Image Scaling Effectiveness for Master-Slave System in Teleoperation  [in Japanese]

    ETO Takahiro , KAMEZAKI Mitsuhiro , SATO Ryuya , IWATA Hiroyasu

    … <p>In robot teleoperation using a master-slave system, we have proposed a scale-gain adjustment system in order to increase the time efficiency and endurance capacity. … Experimental results revealed that a system with manual and continuous change was better for the number of successes than others.</p> …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A2-M04, 2018

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  • A Study on a Training System of Joints by Master-Slave Arm  [in Japanese]

    MIMURA Haruna , ICHII Hiroaki , YOKOTA Kyosuke , HAYAKAWA Yasuhiro

    … Therefore, in this research, the movable training of joints performed by the physical therapist is realized by the master-slave system. … And, it is aimed at constructing a system that can recover function by itself with hemiplegic patients</p> …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A2-E05, 2018

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  • Assist Control for Dual Arm Coordinated Manipulation by Remote Controlled Robot  [in Japanese]

    SHIRATO Takuya , MATSUZAKA Ayaka , GUO Chuanyu , LIU Yang , NAMIKI Akio

    … <p>In this paper, we propose an assist control system that improves efficiency of double arm coordinated tasks. … The system estimates the type of a task intended by an operator by detecting changes in the time series of movement of the operator's hands. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A1-J03, 2018

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  • Design of Control System to Estimate Operating Intention for Master-Slave Robot  [in Japanese]

    NAGAHARA Katsuki , KOYANAGI Ken'ichi , TAMAMOTO Takumi , SAWAI Kei , MASUTA Hiroyuki , MOTOYOSHI Tatsuo , OSHIMA Toru

    … In such a places, advanced judgment ability is required, for effective remote operation of the master-slave system. … However, if the operator performs a motion different from primary intention, there is an unexpected risk around the slave robot. … In this paper, we design a control system to estimate true operating intention and to choose acertain behavior. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A1-E14, 2018

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  • Investigation of maneuverability index for remote control robots focusing on the "sense of unity":The 2nd Report: Influence of the required forces for master arm operation on the maneuverability  [in Japanese]

    TANAKA Kengo , TAZAKI Yuichi , YOKOKOHJI Yasuyoshi

    … In this report, we examined the influence of the required forces to operate the master arm on the maneuverability of the remote control system experimentally and compared the obtained results with CCE. … Although the experimental result did not show much influence of the required forces on the maneuverability of the remote control system, it suggests that CCE can be an operability index for remote control robots.</p> …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P2-M01, 2018

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  • Development of Master-Slave Robot for Flexible Endoscope Operation  [in Japanese]

    UEDA Toru , GOTO Takaaki , SAKAI Nobuo , KUME Keiichiro , Komori Mochimitsu , MURAKAMI Teruo

    … The master - slave robot supports insertion of a flexible endoscope. … Bidirectional haptic feedback function is realized by bilateral master-slave control. … The motions and forces between master and slave device are visualized by the control system, which would be available to quantify of the operation of the endoscope and useful as a teaching tool. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P2-E02, 2018

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  • Tele-operation Using Adaptation Control Gain for Humanoid Hand Robot  [in Japanese]

    OSADA Hiroyuki , MOURI Tetsuya , KAWASAKI Haruhisa , YAMAMURA Hibiki

    … <p>Tele-operation system is required to provide reaction force in a remote robot to its operator. … The authors have developed a master-slave system which consists of a multi-fingered haptic interface and a humanoid hand robot. … This research is aimed for improvement of operability of the master-slave system. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-I18, 2018

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  • A Study on the Intuitive Operation of the Catheter Extension System  [in Japanese]

    HAMASHIMA Motoi , MIURA Satoshi , Parque Victor , MIYASHITA Tomoyuki

    … To improve accuracy of catheter ablation treatment, we developed a master-slave system that considers the structure of a human wrist for surgeons to operate a catheter remotely. … A master and a slave robot made it possible to operate the catheter in 2 DoF which is the inserting and the twisting operation. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-E03, 2018

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