Abstract
Recently, the use of haptic technology has been expected in various fields, such as medicine and entertainment. In general, haptic devices are actuated by DC motors. However, DC motors have active rendering and can cause serious accidents when the system runs out of control. On the other hand, systems that employ a brake are stable and intrinsically safe. However, such systems have several haptic rendering limitations. Therefore, we have developed a semi-active-type haptic device using variable viscoelastic elements: an electrorheological (ER) devices and pneumatic artificial muscles. In this paper, we proposed control modes according to the haptic application, and we demonstrate several haptic experiments. Finally, we confirm that the novel semi-active system achieves haptic rendering of friction, viscous friction, virtual wall, and stiffness.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Kim, B., Park, M., Hwang, C., KIm, M.: Passivity control of a passive haptic device. In: IEEE/RSJ Conference on Intelligent Robots and Systems, pp. 2905–2910 (2004)
Matsuoka, Y., Townsend, W.: Design of life-size haptic environments. Experimental Robotics. Experimental Robotics, vol. 7 (2001)
Galambos, P., Baranyi, P., Korondi, P.: Control design for impedance model with feedback delay. In: 19th International Workshop on Robotics, pp. 475–480 (2010)
Rossa, C., Lozada, J., Micaelli, A.: A new hybrid actuator approach for force-feedback devices. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4054–4059 (2012)
Terada, T., Koyanagi, K., Oshima, T.: Modeling of an ER fluid’s time delay for servo systems. International Joint Conference (ICROS-SICE 2009), pp. 4767–4772 (2009)
Koyanagi, K., Furusho, J.: Study on high safety actuator for force display. In: SICE Annual Conference, pp. 2809–2814 (2002)
Noritsugu, T., Sasaki, D., Takaiwa, M.: Application of artificial pneumatic rubber muscles to a human friendly robot. In: IEEE International Conference on Robotics and Automation, pp. 2188–2193 (2003)
Nakamura, T., Tanaka, D., Maeda, H.: Joint stiffness and position control of an artificial muscle manipulator for instantaneous loads using a mechanical equilibrium model. Advanced Robotics 25(3), 387–406 (2011)
Nakamura, T., Shinohara, H.: Position and force control based on mathematical models of pneumatic artificial muscles reinforced by straight glass fibers. IEEE International Conference on Robotics and Automation, pp. 4361–4366 (2007)
Nakamura, T., Maeda, H.: Position and compliance control of an artificial muscle manipulator using a mechanical equilibrium model. In: IEEE International Conference on Robotics and Automation, pp. 3431–3436 (2007)
Tomori, H., Nagai, S., Majima, T., Nakamura, T.: Variable impedance control with an artificial muscle manipulator using instantaneous force and MR brake. In: IEEE International Conference on Robotics and Automation, pp. 4361–4366 (2007)
Sakaguchi, M., Furusho, J., Takesue, N.: Passive force display using ER brakes and its control experiments. In: Proceedings of the Virtual Reality, pp. 7–12 (2001)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Egawa, M., Watanabe, T., Nakamura, T. (2015). Development of Semi-Active-Type Haptic Device Using Variable Viscoelastic Elements. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9244. Springer, Cham. https://doi.org/10.1007/978-3-319-22879-2_39
Download citation
DOI: https://doi.org/10.1007/978-3-319-22879-2_39
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22878-5
Online ISBN: 978-3-319-22879-2
eBook Packages: Computer ScienceComputer Science (R0)