Development of a high-speed, high-accuracy robot hand for micromanipulation

2016 ◽  
Author(s):  
Hiroshi Sato ◽  
Yuji Yamakawa ◽  
Taku Senoo ◽  
Masatoshi Ishikawa
Keyword(s):  
High Speed ◽  
High Accuracy ◽  
Robot Hand

scholarly journals Development of a Real-Time Human-Robot Collaborative System Based on 1 kHz Visual Feedback Control and Its Application to a Peg-in-Hole Task

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 663
Author(s):  
Yuji Yamakawa ◽  
Yutaro Matsui ◽  
Masatoshi Ishikawa
Keyword(s):  
Real Time ◽  
High Speed ◽  
High Accuracy ◽  
Robot Hand ◽  
Collaborative System ◽  
Visual Sensing ◽  
Hand Control ◽  
The Stability ◽  
Visual Feedback Control ◽  
Human Robot Collaboration

In this research, we focused on Human-Robot collaboration. There were two goals: (1) to develop and evaluate a real-time Human-Robot collaborative system, and (2) to achieve concrete tasks such as collaborative peg-in-hole using the developed system. We proposed an algorithm for visual sensing and robot hand control to perform collaborative motion, and we analyzed the stability of the collaborative system and a so-called collaborative error caused by image processing and latency. We achieved collaborative motion using this developed system and evaluated the collaborative error on the basis of the analysis results. Moreover, we aimed to realize a collaborative peg-in-hole task that required a system with high speed and high accuracy. To achieve this goal, we analyzed the conditions required for performing the collaborative peg-in-hole task from the viewpoints of geometric, force and posture conditions. Finally, in this work, we show the experimental results and data of the collaborative peg-in-hole task, and we examine the effectiveness of our collaborative system.

Copycat hand — robot hand imitating human motions at high speed and with high accuracy

2007 ◽  
Vol 21 (15) ◽  
pp. 1743-1761 ◽  
Author(s):  
Kiyoshi Hoshino ◽  
Emi Tamaki ◽  
Takanobu Tanimoto
Keyword(s):  
High Speed ◽  
High Accuracy ◽  
Robot Hand ◽  
Human Motions

High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control

1999 ◽  
Vol 122 (1) ◽  
pp. 166-173 ◽  
Author(s):  
M. Shiraishi ◽  
S. Sugano ◽  
S. Aoshima
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
High Accuracy ◽  
Decoupling Control ◽  
Robot Hand ◽  
Nonlinear Feedback Control ◽  
Nonlinear Feedback ◽  
Load Variations ◽  
Acceleration Sensors ◽  
Made In

To compensate for the effects of coupling torque and load variations experienced in SCARA-type robots, we propose a new method of sensor-based decoupling control. In this method the plant is first nominalized with the use of a disturbance observer and then nonlinear feedback control is accomplished by this nominalized system based on information from acceleration sensors installed at the end of the robot hand. As a result of high-speed reciprocal motion with a payload of 10 kg mounted on the hand, we were able to achieve satisfactory decoupling using this method. Improvements were also made in steady-state characteristics. [S1087-1357(00)01201-6]

scholarly journals Multi-Touch Interaction Generation Device by Spatiotemporally Switching Electrodes

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1475
Author(s):  
Masahiro Okamoto ◽  
Kazuya Murao
Keyword(s):  
High Speed ◽  
High Accuracy ◽  
Conductive Ink ◽  
Control Board ◽  
Touch Panel ◽  
Electrode Size ◽  
Touch Input ◽  
Touch Interaction ◽  
Multiple Electrodes ◽  
Touch Panels

With the spread of devices equipped with touch panels, such as smartphones, tablets, and laptops, the opportunity for users to perform touch interaction has increased. In this paper, we constructed a device that generates multi-touch interactions to realize high-speed, continuous, or hands-free touch input on a touch panel. The proposed device consists of an electrode sheet printed with multiple electrodes using conductive ink and a voltage control board, and generates eight multi-touch interactions: tap, double-tap, long-press, press-and-tap, swipe, pinch-in, pinch-out, and rotation, by changing the capacitance of the touch panel in time and space. In preliminary experiments, we investigated the appropriate electrode size and spacing for generating multi-touch interactions, and then implemented the device. From the evaluation experiments, it was confirmed that the proposed device can generate multi-touch interactions with high accuracy. As a result, tap, press-and-tap, swipe, pinch-in, pinch-out, and rotation can be generated with a success rate of 100%. It was confirmed that all the multi-touch interactions evaluated by the proposed device could be generated with high accuracy and acceptable speed.

scholarly journals Dynamic In-Hand Regrasping Using a High-Speed Robot Hand and High-Speed Vision

2020 ◽  
Vol 53 (2) ◽  
pp. 9796-9801
Author(s):  
Ryosuke Higo ◽  
Taku Senoo ◽  
Masatoshi Ishikawa
Keyword(s):  
High Speed ◽  
Robot Hand
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