NDLI: Armrest Joystick -mechanism design and basic experiments-

Content Provider	IEEE Xplore Digital Library
Author	Ishida, H. Hagiwara, T. Ueda, K. Hirose, S.
Copyright Year	2012
Description	Author affiliation: Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology 2-12-1 O-okayama Meguro-ku, 152-8552, Japan (Ishida, H.; Hagiwara, T.; Ueda, K.; Hirose, S.)
Abstract	Manipulators, which are mounted on robots that substitute man at dangerous places like indoors and outdoors disaster sites or mine fields, have been mainly controlled by joysticks. However, joysticks are difficult to manipulate and complex tasks become hard to be done by operators because of a limit and discordance of controlled degree of freedom. Therefore, a controller with high operability like the Master-Slave system is needed, nevertheless conventional controllers are not used in these situations because there is no controller which has compact structures and intuitively controls 3DOF position and 3DOF posture. In this research, we propose a remote controller “Armrest Joystick” of the Master-Slave system which has high portability and operability. The Armrest Joystick is attached to a foldable portable chair and can be carried easily. It consists of a 3DOF position controller with an armrest supporting the operator's arm during operations, a 3DOF posture controller and a gripper controller. Furthermore, it has motors for the force feedback on all axes for more intuitive operations. In this paper, we report the basic concept and design of the Armrest Joystick, and the experiments which verify operability and the validity of the force feedback.
Starting Page	5119
Ending Page	5124
File Size	935580
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385981
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Couplings Grippers Robots Wrist Force feedback Joints Force
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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