エネルギー変換効率の良い6自由度柔軟関節肩義手(SDP,ロボットアーム 1.45kg)の顔面方位制御システム用肩部2自由度位置検出センサの開発

概要

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A practical control system was proposed by us and was called "the Face Direction Control System: FDCS". (The hand part of the prosthesis is controlled to be always restricted on the imaginary eyes existing behind the real eyes.) The Shoulder Motion Transducer is fixed to the body, and the point P is attached to the shoulder. Forward and backward motion of the shoulderδ2 or δ4 is converted to the rotation of the potentiometer P1 through the horizontal displacement of the point P. Consequently, two-dimensional shoulder motion is converted into two voltages of P1 and P2 potentiometers. Motion sensor of IMU-Z (ZMP Co.) is able to actually use as detections sensor. The sensor using Potentiometers (LP-100F-C) durability Midori Precisions Co., Ltd. is made. It is confirmed to be able to detect the movement of the sensor by the voltage change of GL900. Next, the sensor and the SDP (robot arm) are connected by RCB-4HV (KONDO KAGAKU Co.), and the SDP (robot arm) which is operated by the shoulder movement of two degree of freedom. Moreover, the movement of the shoulder can be detected by installing IMU-Z.