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  1. 学術雑誌論文

Design and Implementation of a Compact Master-Slave Robotic System with Force Feedback and Energy Recycling

http://hdl.handle.net/10173/737
http://hdl.handle.net/10173/737
064aba31-e53a-4e74-9a75-d051d9cb38e2
名前 / ファイル ライセンス アクション
jsdd_4_1_13.pdf jsdd_4_1_13.pdf (459.4 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2011-09-16
タイトル
タイトル Design and Implementation of a Compact Master-Slave Robotic System with Force Feedback and Energy Recycling
言語
言語 eng
キーワード
主題Scheme Other
主題 Force Feedback
キーワード
主題Scheme Other
主題 Master-Slave Motion Tracking
キーワード
主題Scheme Other
主題 Bidirectional Control
キーワード
主題Scheme Other
主題 Energy Recycling
資源タイプ
資源タイプ識別子 http://purl.org/coar/resource_type/c_6501
資源タイプ journal article
著者 LI, Chunguang

× LI, Chunguang

LI, Chunguang

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INOUE, Yoshio

× INOUE, Yoshio

INOUE, Yoshio

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LIU, Tao

× LIU, Tao

LIU, Tao

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SHIBATA, Kyoko

× SHIBATA, Kyoko

SHIBATA, Kyoko

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OKA, Koichi

× OKA, Koichi

OKA, Koichi

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抄録
内容記述タイプ Abstract
内容記述 Master-slave control is becoming increasingly popular in the development of robotic systems which can provide rehabilitation training for hemiplegic patients with a unilaterally disabled limb. However, the system structures and control strategies of existent master-slave systems are always complex. An innovative master-slave system implementing force feedback and motion tracking for a rehabilitation robot is presented in this paper. The system consists of two identical motors with a wired connection, and the two motors are located at the master and slave manipulator sites respectively. The slave motor tracks the motion of the master motor directly driven by a patient. As well, the interaction force produced at the slave site is fed back to the patient. Therefore, the impaired limb driven by the slave motor can imitate the motion of the healthy limb controlling the master motor, and the patient can regulate the control force of the healthy limb properly according to the force sensation. The force sensing and motion tracking are achieved simultaneously with neither force sensors nor sophisticated control algorithms. The system is characterized by simple structure, bidirectional controllability, energy recycling, and force feedback without a force sensor. Test experiments on a prototype were conducted, and the results appraise the advantages of the system and demonstrate the feasibility of the proposed control scheme for a rehabilitation robot.
書誌情報 Journal of System Design and Dynamics

巻 4, 号 1, p. 13-25, 発行日 2010
ISSN
収録物識別子タイプ ISSN
収録物識別子 1881-3046
DOI
関連タイプ isIdenticalTo
識別子タイプ DOI
関連識別子 10.1299/jsdd.4.13
権利
権利情報 (c) 2010 The Japan Society of Mechanical Engineers
著者版フラグ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
出版者
出版者 Japan Society of Mechanical Engineering
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