Transmission of Force Sensations by Hand of Multi-DOF Master-Slave Robot Using Tendon-Driven Mechanism

• Nozaki Takahiro

  Department of System Design Engineering, Keio University

• Suzuki Yusuke

  Department of System Design Engineering, Keio University

• Ohnishi Kouhei

  Department of System Design Engineering, Keio University

Bibliographic Information

Other Title

• 腱駆動を用いたマスタ・スレーブ型多自由度ロボットハンドによる力覚伝達
• ケンクドウ オ モチイタ マスタ スレーブガタ タジユウド ロボットハンド ニ ヨル リョクカク デンタツ

Abstract

In this study, a bilateral control system for tendon-driven robots is proposed. The rotation angle and torque of the robot joints are controlled by the proposed control system. In addition, a tendon-driven robot hand for haptic applications is developed. The proposed control system is employed by the robot hand to transmit force sensations.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 131 (3), 297-303, 2011

  The Institute of Electrical Engineers of Japan

Keywords

• robot hand
• tendon-driven mechanism
• bilateral control
• multi-DOF
• haptics
• master-slave system

Details

• CRID: 1390001204658833408
• NII Article ID: 10027804982
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.131.297
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 10988472
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10988472
• Web Site: https://www.jstage.jst.go.jp/article/ieejias/131/3/131_3_297/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed