Motion control of passive haptic device using wires with servo brakes

Yasuhisa Hirata, Keitaro Suzuki, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

In this paper, we introduce a passive haptic device which consists of wires with servo brakes and its control method for physical support of human being. Since servo brakes control a point constrained by wires, this passive system is intrinsically safe and has a wide operating range. We especially develop a motion support system controlled on plane and conduct a path following experiment for illustrating a possibility of the passive haptic device with wires. We also analyze the system's characteristics by calculating the feasible braking force, and then improve the operating range of the system based on the analysis. Experimental results on path following function illustrate the validity of the system and its control method.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3123-3129
Number of pages7
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country/TerritoryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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