抄録
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.
| 本文言語 | English |
|---|---|
| ホスト出版物のタイトル | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings |
| ページ | 3123-3129 |
| ページ数 | 7 |
| DOI | |
| 出版ステータス | Published - 2010 12 1 |
| イベント | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China 継続期間: 2010 10 18 → 2010 10 22 |
Other
| Other | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 |
|---|---|
| 国/地域 | Taiwan, Province of China |
| City | Taipei |
| Period | 10/10/18 → 10/10/22 |
ASJC Scopus subject areas
- 人工知能
- 人間とコンピュータの相互作用
- 制御およびシステム工学