Real-World Haptics for Motion Realization

Nozaki, Tsutomu; Mizoguchi, Takahiro; Ohnishi, Kouhei

doi:10.1541/ieejjia.2.1

Cited by 10 publications

(7 citation statements)

References 52 publications

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“…Haptics is expected to be widely useful for interactions between mechatronic sys‐tems and humans ,. As defined in a survey paper , ‘Haptics is a research field that examines information from physical interaction between humans and objects. Haptic information, unlike auditory and visual information, directly presents the size, shape, collision, and location of objects.’…”

Section: Motion Controlmentioning

confidence: 99%

Recent advances and outlook in industrial instrumentation and mechatronics control

Shimada

2016

IEEJ Transactions Elec Engng

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Recent years have been characterized by marked progress in industrial instrumentation and mechatronics control technology. This year commemorates the fifth publication year of the IEEJ Journal of Industry Applications (emIEEJ J. IA). Additionally, the Mechatronics Control (MEC) technical committee was formed 3 years ago following a separation from the Industrial Instruments and Control (IIC) technical committee in order to further enhance their respective social contributions. The increased activity of both committees also contributed to the progress of the Journal. This paper discusses the recent advances and outlook in the technical field of industrial instrumentation and mechatronics control based on papers published in the IEEJ J. IA and a few other significant papers, which consider the current activities of the various committees.

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Section: Motion Controlmentioning

confidence: 99%

Recent advances and outlook in industrial instrumentation and mechatronics control

Shimada

2016

IEEJ Transactions Elec Engng

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“…According to (23), the 1st-order disturbance observer is equivalent to a 2nd-order LPF relevant to the force. Thus, the disturbance observer is capable of detecting the force response without any force sensors.…”

Section: Sensorless Force Control Using 1st-order Disturbance Observermentioning

confidence: 99%

“…The general Class-B power amplifiers are capable of generating the fine voltage and current waveform. From the view point of the performances of the motor drive, if possible the Class-B power amplifier should be utilized for advanced motion control such as the precise control (14) , numerical controlled tools, high performance servo drive (15) , and real-world haptics (16)- (23) . However, the Class-B power amplifier cannot be used for driving high-power actuators because of the power efficiency.…”

Section: Introductionmentioning

confidence: 99%

Fine Sensorless Force Control using Diode-Clamped Linear Amplifiers

Yokokura

Ohishi

2014

IEEJ Journal IA

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In this paper, diode-clamped linear amplifiers (DCLAs) are developed for achieving low-noise and fine force control. Class-B and Class-D power amplifiers are not suitable for driving a motor, owing to their power efficiency and high switching noise. In particular, a force control system using Class-D power amplifiers cannot generate appropriate fine force because of the switching operations by PWM or PDM. For that reason, we focus on DCLAs, which are capable of solving the problems both power efficiency and force noise. Furthermore, the force noise generated by the linear motor is less than that generated by the Class-D power amplifiers. Through a theoretical analysis, simulations, and experiments, the validity of the force control system using DCLAs is verified.

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“…Both position information and force information for an actuator are important to control its motion. For example, a bilateral control, which can communicate haptic information, requires simultaneous position information and applied force information (7) ; by obtaining this information, various fine motion control methods can be applied to the actuator.…”

Section: Introductionmentioning

confidence: 99%

Real-time Sensorless Estimation of Position and Force for Solenoid Actuators

2016

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In various fields, small actuation systems are required to aid human activities in a narrow space and to realize fine motions. Although some miniature actuators have been developed, the size of the sensors attached to them prevents the miniaturization of the systems. In this paper, a sensorless actuation system with a compact solenoid actuator is proposed. An input signal including the AC and DC components is used. The inductance and position are estimated from the AC component. The DC component is applied in order to drive the solenoid actuator. Simulations and experiments concerning frequency characteristics and simultaneous estimation are conducted to verify the validity of the proposal. From the results of the frequency characteristics, the position and force estimation are accurately achieved up to 10 Hz frequency. As a result of the simultaneous estimation, the position and force are simultaneously estimated in real time. This proposal is useful, because a small solenoid actuation system whose position and force are simultaneously estimated in real time without the need for any position and force sensors is realized.

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Real-World Haptics for Motion Realization

Cited by 10 publications

References 52 publications

Recent advances and outlook in industrial instrumentation and mechatronics control

Recent advances and outlook in industrial instrumentation and mechatronics control

Fine Sensorless Force Control using Diode-Clamped Linear Amplifiers

Real-time Sensorless Estimation of Position and Force for Solenoid Actuators

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