702 磁気浮上を応用した反力フィードバックシステムの開発(オーガナイズドセッション : 21世紀のメカトロニクス)

概要

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The objective of this study is to develop a master-slave type robot for tele-surgery that can provide the user with the same feeling of a surgeon who is working with a surgical knife. At this study, we have established the basic technology of single-degree-of-freedom system. We developed a master side manipulator with the magnetic suspension system and a slave side manipulator with a strain gauge to measure reactive force. The reactive force measured at the slave manipulator is used to excite current in the coil of the magnetic suspension system of the master side. Then, attractive force is generated so that the operator can feel the reactive force on the master manipulator. We evaluated the force generation performance of the suspension model and the performance of the reactive force feedback mechanism. The magnetic suspension system of the master side could generate a feedback force of 0.1 N when the slave side detected a reactive force of 0.02 N.
一般社団法人日本機械学会の論文
2001-09-20