Transmission of force sensations by hand of multi-DOF master-slave robot using tendon-driven mechanism

Takahiro Nozaki; Yusuke Suzuki; Kouhei Ohnishi

doi:10.1541/ieejias.131.297

Transmission of force sensations by hand of multi-DOF master-slave robot using tendon-driven mechanism

Takahiro Nozaki, Yusuke Suzuki, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

22 Citations (Scopus)

Abstract

In this study, a bilateral control system for tendon-driven robots is proposed. The rotation angle and torque of the robot joints are controlled by the proposed control system. In addition, a tendon-driven robot hand for haptic applications is developed. The proposed control system is employed by the robot hand to transmit force sensations.

Original language	English
Pages (from-to)	297-303+10
Journal	ieej transactions on industry applications
Volume	131
Issue number	3
DOIs	https://doi.org/10.1541/ieejias.131.297
Publication status	Published - 2011

Keywords

Bilateral control
Haptics
Master-slave system
Multi-DOF
Robot hand
Tendon-driven mechanism

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejias.131.297

Cite this

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abstract = "In this study, a bilateral control system for tendon-driven robots is proposed. The rotation angle and torque of the robot joints are controlled by the proposed control system. In addition, a tendon-driven robot hand for haptic applications is developed. The proposed control system is employed by the robot hand to transmit force sensations.",

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AU - Nozaki, Takahiro

AU - Suzuki, Yusuke

AU - Ohnishi, Kouhei

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Y1 - 2011

N2 - In this study, a bilateral control system for tendon-driven robots is proposed. The rotation angle and torque of the robot joints are controlled by the proposed control system. In addition, a tendon-driven robot hand for haptic applications is developed. The proposed control system is employed by the robot hand to transmit force sensations.

AB - In this study, a bilateral control system for tendon-driven robots is proposed. The rotation angle and torque of the robot joints are controlled by the proposed control system. In addition, a tendon-driven robot hand for haptic applications is developed. The proposed control system is employed by the robot hand to transmit force sensations.

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KW - Haptics

KW - Master-slave system

KW - Multi-DOF

KW - Robot hand

KW - Tendon-driven mechanism

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Transmission of force sensations by hand of multi-DOF master-slave robot using tendon-driven mechanism

Abstract

Keywords

ASJC Scopus subject areas

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