Research on high precision force display method by a multi-fingered haptic device

多指触觉装置高精度力显示方法研究

基本信息

  • 批准号:
    16360210
  • 负责人:
  • 金额:
    $ 7.81万
  • 依托单位:
  • 依托单位国家:
    日本
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)
  • 财政年份:
    2004
  • 资助国家:
    日本
  • 起止时间:
    2004 至 2006
  • 项目状态:
    已结题

项目摘要

Research on high precision force display method by opposed multi-fingered haptic device is presented. Mainly three topics are studied : optimum design of multi-fingered haptic interface opposed to human hand, redundant force control with cooperative motions with haptic hand and arm, and haptic rendering including computation of deformation of flexible object and constraint force at multi contact points.(1) Optimum design of multi-fingered haptic interface : Optimum finger layout based on maximizing an intersection work space between human hand and haptic hand is presented.(2) Redundant force control : Multi-fingered haptic interface is a redundant robot. We proposed a novel redundancy control which optimizes a performance index consisting of the manipulability of the haptic hand and arm joint norm. This method keep a contact between human and haptic hands in wide work space and reduce a sense of uneasiness of operator.(3) Haptic rendering of flexible object : Real time computation method of haptic rendering of flexible object with multi-contact points is developed. This method is based on a finite element method. Non-linearity of deformation is taken into consideration.(4) Frictional moment : Computational method of frictional moment at grasping a virtual object is presented. To present frictional moment in virtual reality environment, a compact device which consists of finger holder, ball, and motor has been developed.(5) Application of medical palpation training system : To show the effectiveness of multi-fingered haptic interface, breast palpation training system has been developed. In this system, above mentioned technologies have been implemented and high potential as a medical palpation training system has been shown.
研究了利用对置式多指力觉装置实现高精度力显示的方法。主要研究了三个方面的问题:多指力觉交互界面的优化设计、力觉手和手臂协同运动的冗余力控制以及包括柔性物体变形和多接触点约束力计算的力觉绘制。(1)多指力觉界面的优化设计:提出了基于最大化人手与力觉手相交工作空间的手指布局优化方法。(2)冗余力控制:多指触觉接口是一个冗余机器人。我们提出了一种新的冗余控制,优化的性能指标,包括触觉手和手臂关节规范的可操作性。该方法在宽的工作空间中保持人与触觉手之间的接触,并减少操作者的不安感。(3)柔性物体的力觉绘制:提出了多接触点柔性物体力觉绘制的真实的实时计算方法。该方法基于有限元法。考虑了变形的非线性。(4)摩擦力矩:提出了抓取虚拟物体时摩擦力矩的计算方法。为了在虚拟现实环境中呈现摩擦力矩,研制了一种由手指保持器、球和电机组成的小型装置。(5)医学触诊训练系统的应用:为了显示多指触觉接口的有效性,已经开发了乳房触诊训练系统。在该系统中,上述技术已被实现,并显示出作为医疗触诊训练系统的高潜力。

项目成果

期刊论文数量(49)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
未来科学百科事典と多指ハプティックインターフェイスロボットの研究開発
未来科学百科全书及多指触觉界面机器人研发
  • DOI:
  • 发表时间:
    2005
  • 期刊:
  • 影响因子:
    0
  • 作者:
    川崎晴久;毛利哲也;オサマ・アルハラビ;ビータス・ダニュラティス;堀匠;杉橋泰隆
  • 通讯作者:
    杉橋泰隆
5本指ハプティックインターフェイスによる乳癌触診訓練システム
使用五指触觉界面的乳腺癌触诊训练系统
Haptic Breast Palpation Using Five-Fingers Haptic Interface HIRO-II
使用五指触觉界面 HIRO-II 进行触觉乳房触诊
Future Haptic Science Encyclopedia : An Experimental Implementation of Networked Multi-Threaded Haptic Visual Environment
未来触觉科学百科全书:网络化多线程触觉视觉环境的实验实现
  • DOI:
  • 发表时间:
    2006
  • 期刊:
  • 影响因子:
    0
  • 作者:
    M.Osama Alhalabi;Vytautas Daniulaitis;Haruhisa Kawasaki;Mouri Tetsuya;Yoshiyo Ohtuka;Katsuyoshi Ishida
  • 通讯作者:
    Katsuyoshi Ishida
Proposal of Deformation Method in Soft Object by Finite Element Method with Condition of Constraint in Contact Point
接触点约束条件下软体变形有限元法的提出
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KAWASAKI Haruhisa其他文献

KAWASAKI Haruhisa的其他文献

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{{ truncateString('KAWASAKI Haruhisa', 18)}}的其他基金

Master-Slave System based on Hand Haptic Interface for Humanoid Hand Robot
基于手触觉接口的仿人手机器人主从系统
  • 批准号:
    26249063
  • 财政年份:
    2014
  • 资助金额:
    $ 7.81万
  • 项目类别:
    Grant-in-Aid for Scientific Research (A)
Research on hand skill transfer using a multi-fingered haptic interface robot
基于多指触觉界面机器人的手部技能迁移研究
  • 批准号:
    19360190
  • 财政年份:
    2007
  • 资助金额:
    $ 7.81万
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)
Research on Grasping of Unknown Object Imitating Human Grasping Reflex for Anthropomorphic
拟人化模仿人类抓取反射的未知物体抓取研究
  • 批准号:
    14550443
  • 财政年份:
    2002
  • 资助金额:
    $ 7.81万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)

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脑干反射回路机制在舌头运动冗余控制和构音障碍发展机制中的作用。
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    18K04011
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  • 批准号:
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  • 财政年份:
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节肢动物运动系统的冗余控制
  • 批准号:
    06454026
  • 财政年份:
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