TY - GEN
T1 - Position and orientation control of passive wire-driven motion support system using servo brakes
AU - Hirata, Yasuhisa
AU - Shirai, Ryo
AU - Kosuge, Kazuhiro
PY - 2017/7/21
Y1 - 2017/7/21
N2 - Wire-driven haptic devices can easily achieve highspeed operation because of the low inertia of light and thin wires. Therefore, it is expected to be widely used as a motion support system in fields such as sports training. However, usually these wires are driven by controlling each wire's tension using servo motors, which raises concerns about the safety in human-robot interaction. Thus, we propose to support the user by controlling servo brakes instead of motors, which can ensure safety. In this paper, we introduce a passive wire-driven system without any motors for realistic motion support in sports training. The system can measure the user motion and support the user while following a target form by a novel passive control method considering the orientation as well as the position using 7 wires' lengths and the brake tensions. We also conduct error evaluation experiments and show that a tennis beginner using this system can accurately follow the target form.
AB - Wire-driven haptic devices can easily achieve highspeed operation because of the low inertia of light and thin wires. Therefore, it is expected to be widely used as a motion support system in fields such as sports training. However, usually these wires are driven by controlling each wire's tension using servo motors, which raises concerns about the safety in human-robot interaction. Thus, we propose to support the user by controlling servo brakes instead of motors, which can ensure safety. In this paper, we introduce a passive wire-driven system without any motors for realistic motion support in sports training. The system can measure the user motion and support the user while following a target form by a novel passive control method considering the orientation as well as the position using 7 wires' lengths and the brake tensions. We also conduct error evaluation experiments and show that a tennis beginner using this system can accurately follow the target form.
UR - http://www.scopus.com/inward/record.url?scp=85028018429&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2017.7989426
DO - 10.1109/ICRA.2017.7989426
M3 - Conference contribution
AN - SCOPUS:85028018429
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3702
EP - 3707
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -