NDLI: Synchronism evaluation of multi-DOF motion-copying system for motion training

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Synchronism evaluation of multi-DOF motion-copying system for motion training

Content Provider	IEEE Xplore Digital Library
Author	Nagata, K. Katsura, S.
Copyright Year	2015
Description	Author affiliation: Sch. of Integrated Design Eng., Keio Univ., Yokohama, Japan (Nagata, K.; Katsura, S.)
Abstract	Recently, motion control strategies that deal with position and force information simultaneously are attraction attention for human support. Acceleration control is one of the candidates for realizing position control and force control simultaneously. In this paper, the motion-copying system based on acceleration control is in focus. The motion-copying system is the system which stores human motion, by storing the postion and force information of the human motion. The motion-copying system is expected to be applied to systems in various fields, such as medical surgery robots as well as robots used to train skills. However, the convetional motion-copying system struggles with the problem of losing robustness in the motion-reproduction phase, especially under external disturbances. In this paper, a novel control strategy of motion-copying system which assures robustness under external disturbance is introduced. By using the proposed method, the motion-reproduction system will be able to reproduce the stored motion accurately, even when a trainee is holding on to the system and applying the external force to the system. This system enables a trainee to acquire the stored skills, using both the visual and the haptic sense. Validity of the proposed method is verified through experimental results.
Sponsorship	Inst. Electr.Electron. Eng.
Starting Page	500
Ending Page	505
File Size	1763144
Page Count	6
File Format	PDF
ISBN	9781479936335
DOI	10.1109/ICMECH.2015.7084027
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-03-06
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Training Robots Loading Trajectory Acceleration
Content Type	Text
Resource Type	Article

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