Development of force displaying device using pneumatic parallel manipulator and application to palpation motion
Development of force displaying device using pneumatic parallel manipulator and application to palpation motion
复制标题
气动并联机械手力显示装置的研制及其在触诊运动中的应用
DOI：
10.1109/robot.2003.1242227
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
T. Noritsugu
中科院分区：
文献类型：
--
作者：
M. Takaiwa;T. Noritsugu
本研究的目的是开发一种能在人体表面表现出刚性等弹性特性的机械系统，以应用于触诊模拟器。采用气动并联机械手作为驱动机构，由于空气的可压缩性，使其具有微力显示特性。通过引入扰动观测器，构建了不使用力/力矩传感器的柔度控制系统，并提出了柔度显示方案。实验验证了该方案的有效性。
The goal of this study is to develop a mechanical system which display elastic characteristic like stiffness on the surface of human body aiming at applying to palpation simulator. Pneumatic parallel manipulator is employed as a driving mechanism, consequently, it brings capability of minute force displaying property owing to the air compressibility. Compliance control system without using force/moment sensor is constructed by introducing a disturbance observer and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.