Development of bilateral wearable device “kento” for control robots using muscle actuator modules

Author

Hongo, Kazuo ; Yoshida, Mariko ; Nakanishi, Yuto ; Mizuuchi, Ikuo ; Inaba, Masayuki

Author_Institution

Grad. Sch. of Inf. Sci. & Technol., Univ. of Tokyo, Tokyo, Japan

fYear

2009

fDate

Sept. 27 2009-Oct. 2 2009

Firstpage

897

Lastpage

902

Abstract

A method of giving intelligence to control robots by human navigations is one of appropriate solution to respond to a lot of unforeseeable situations, and making movement of complicated robots in contact condition with surroundings is not easy. In this research, a bilateral wearable device using stiffness adjustable muscle actuator modules is developed in order to control robots, feel external force of robots and teach motion that contact on surroundings. For an experiment it was realized maneuvering a musculo-skeletal humanoid, it could feedback humanoid´s external force to manipulator and its force feedback by bilateral control leads manipulator to do safety contact motion.

Keywords

actuators; force feedback; humanoid robots; Kento; bilateral wearable device; force feedback; human navigations; musculo-skeletal humanoid; robot control; stiffness adjustable muscle actuator modules; Actuators; Educational robots; Force control; Force feedback; Intelligent control; Intelligent robots; Manipulators; Motion control; Muscles; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on

Conference_Location

Toyama

ISSN

1944-9445

Print_ISBN

978-1-4244-5081-7

Electronic_ISBN

1944-9445

Type

conf

DOI

10.1109/ROMAN.2009.5326226

Filename

5326226