Position and orientation control of passive wire-driven motion support system using servo brakes

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

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3702-3707
Number of pages6
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 2017 Jul 21
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 2017 May 292017 Jun 3

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period17/5/2917/6/3

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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