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Development of Semi-Active-Type Haptic Device Using Variable Viscoelastic Elements

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Intelligent Robotics and Applications (ICIRA 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9244))

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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.

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Authors and Affiliations

  1. Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo, 112-8551, Japan

    Masakazu Egawa, Takumi Watanabe & Taro Nakamura

Authors
  1. Masakazu Egawa
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  2. Takumi Watanabe
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  3. Taro Nakamura
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Corresponding author

Correspondence to Masakazu Egawa .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

  5. University of Portsmouth, Portsmouth, United Kingdom

    Dalin Zhou

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© 2015 Springer International Publishing Switzerland

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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

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  • DOI: https://doi.org/10.1007/978-3-319-22879-2_39

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22878-5

  • Online ISBN: 978-3-319-22879-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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