2A1-C02 サーボブレーキ付きワイヤを用いた空間3自由度制御型運動支援システムの開発(人間機械協調)

概要

論文の詳細を見る
To assist human motion in the fields of rehabilitation and sports training and so on, haptic devices have been developed by many researchers. They are a form of a physical human-robot interaction system that can transmit a force to the user. Most of the haptic devices studied so far are driven by servo motors. Although haptic devices with servo motors are useful for realizing several functions, they have serious potential to injure the user when servo motors are not controlled appropriately. On the other hand, in terms of safety, passive robotics concepts have been proposed. We propose a passive motion support system consisting of wire with servo brakes and a control method to guide the human hand.
一般社団法人日本機械学会の論文
2011-05-26