The Experts below are selected from a list of 324 Experts worldwide ranked by ideXlab platform

Hideo Fujimoto - One of the best experts on this subject based on the ideXlab platform.

  • outer shell type 2 dof bending manipulator using spring Link Mechanism for medical applications
    International Conference on Robotics and Automation, 2010
    Co-Authors: Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto
    Abstract:

    In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented not only in academic fields but also as commercialized products. In this paper, an outer shell type 2 DOF bending manipulator using a spring-Link Mechanism is presented. The Mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-Link Mechanism is a simple combination of a flat spring and a rigid Link with a passive joint connection. The outer shell type 2 DOF bending manipulator is composed by four spring-Link Mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of springs such as an internal stress of the structure. In addition, by locating four spring-Link Mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator.

  • ICRA - Outer shell type 2 DOF bending manipulator using spring-Link Mechanism for medical applications
    2010 IEEE International Conference on Robotics and Automation, 2010
    Co-Authors: Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto
    Abstract:

    In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented not only in academic fields but also as commercialized products. In this paper, an outer shell type 2 DOF bending manipulator using a spring-Link Mechanism is presented. The Mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-Link Mechanism is a simple combination of a flat spring and a rigid Link with a passive joint connection. The outer shell type 2 DOF bending manipulator is composed by four spring-Link Mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of springs such as an internal stress of the structure. In addition, by locating four spring-Link Mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator.

  • ICRA - Development of a haptic device “DELTA-4” using parallel Link Mechanism
    2009 IEEE International Conference on Robotics and Automation, 2009
    Co-Authors: Jumpei Arata, Hiroyuki Kondo, Masamichi Sakaguchi, Hideo Fujimoto
    Abstract:

    Nowadays, several haptic devices are commercialized and becoming common not only in research fields but also in consumer use. In this paper, a new parallel Link Mechanism “DELTA-4” is proposed for a new haptic device within high quality force display capability and operability. DELTA-4 consists of 3 DOF of translational motions. The key features of DELTA-4 comparing with conventional parallel Link Mechanisms are: a redundant actuation, a wide working area and a small footprint. The prototype is equipped with a 3 DOF of rotation Mechanism, which its center of motions is located on the wrist position of an operator. An evaluation test of force display was conducted on a prototype of DELTA-4 Mechanism.

Jumpei Arata - One of the best experts on this subject based on the ideXlab platform.

  • outer shell type 2 dof bending manipulator using spring Link Mechanism for medical applications
    International Conference on Robotics and Automation, 2010
    Co-Authors: Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto
    Abstract:

    In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented not only in academic fields but also as commercialized products. In this paper, an outer shell type 2 DOF bending manipulator using a spring-Link Mechanism is presented. The Mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-Link Mechanism is a simple combination of a flat spring and a rigid Link with a passive joint connection. The outer shell type 2 DOF bending manipulator is composed by four spring-Link Mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of springs such as an internal stress of the structure. In addition, by locating four spring-Link Mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator.

  • ICRA - Outer shell type 2 DOF bending manipulator using spring-Link Mechanism for medical applications
    2010 IEEE International Conference on Robotics and Automation, 2010
    Co-Authors: Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto
    Abstract:

    In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented not only in academic fields but also as commercialized products. In this paper, an outer shell type 2 DOF bending manipulator using a spring-Link Mechanism is presented. The Mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-Link Mechanism is a simple combination of a flat spring and a rigid Link with a passive joint connection. The outer shell type 2 DOF bending manipulator is composed by four spring-Link Mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of springs such as an internal stress of the structure. In addition, by locating four spring-Link Mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator.

  • ICRA - Development of a haptic device “DELTA-4” using parallel Link Mechanism
    2009 IEEE International Conference on Robotics and Automation, 2009
    Co-Authors: Jumpei Arata, Hiroyuki Kondo, Masamichi Sakaguchi, Hideo Fujimoto
    Abstract:

    Nowadays, several haptic devices are commercialized and becoming common not only in research fields but also in consumer use. In this paper, a new parallel Link Mechanism “DELTA-4” is proposed for a new haptic device within high quality force display capability and operability. DELTA-4 consists of 3 DOF of translational motions. The key features of DELTA-4 comparing with conventional parallel Link Mechanisms are: a redundant actuation, a wide working area and a small footprint. The prototype is equipped with a 3 DOF of rotation Mechanism, which its center of motions is located on the wrist position of an operator. An evaluation test of force display was conducted on a prototype of DELTA-4 Mechanism.

Yoshitaka Saito - One of the best experts on this subject based on the ideXlab platform.

  • outer shell type 2 dof bending manipulator using spring Link Mechanism for medical applications
    International Conference on Robotics and Automation, 2010
    Co-Authors: Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto
    Abstract:

    In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented not only in academic fields but also as commercialized products. In this paper, an outer shell type 2 DOF bending manipulator using a spring-Link Mechanism is presented. The Mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-Link Mechanism is a simple combination of a flat spring and a rigid Link with a passive joint connection. The outer shell type 2 DOF bending manipulator is composed by four spring-Link Mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of springs such as an internal stress of the structure. In addition, by locating four spring-Link Mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator.

  • ICRA - Outer shell type 2 DOF bending manipulator using spring-Link Mechanism for medical applications
    2010 IEEE International Conference on Robotics and Automation, 2010
    Co-Authors: Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto
    Abstract:

    In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented not only in academic fields but also as commercialized products. In this paper, an outer shell type 2 DOF bending manipulator using a spring-Link Mechanism is presented. The Mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-Link Mechanism is a simple combination of a flat spring and a rigid Link with a passive joint connection. The outer shell type 2 DOF bending manipulator is composed by four spring-Link Mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of springs such as an internal stress of the structure. In addition, by locating four spring-Link Mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator.

Hongseok Kim - One of the best experts on this subject based on the ideXlab platform.

  • safe Link Mechanism based on passive compliance for safe human robot collision
    International Conference on Robotics and Automation, 2007
    Co-Authors: Jung Jun Park, Jae-bok Song, Byeongsang Kim, Hongseok Kim
    Abstract:

    A safe robot arm can be achieved by either passive or active compliance. The passive compliance systems composed of purely mechanical elements often provide faster and more reliable responses for dynamic collision than the active ones involving sensors and actuators. Since both positioning accuracy and collision safety are important, a robot arm should exhibit very low stiffness when subjected to the collision force greater than the one causing injury to humans, but maintain very high stiffness otherwise. To implement these requirements, a novel safe Link Mechanism (SLM), which consists of linear springs, a double-slider Mechanism and shock absorbing modules, is proposed in this research. The main contribution of SLM lies in its variable stiffness capability implemented only by passive mechanical elements. Various experiments for static and dynamic collision show that the stiffness of SLM is kept very high for the external force less than the critical impact force, but it drops abruptly as the external force exceeds the critical force, thus guaranteeing the collision safety. Furthermore, the critical impact force can be set to any value depending on the applications.

Masao Nagai - One of the best experts on this subject based on the ideXlab platform.

  • Study on Car Body Tilting System Using Variable Link Mechanism : 2nd Report, Tilting Control Design Based on the Strategy of Perfect Tilting Condition
    Transactions of the Japan Society of Mechanical Engineers Series C, 2008
    Co-Authors: Hidehisa Yoshida, Masao Nagai, Syunsuke Siomi, Takeshi Sueki
    Abstract:

    This paper aims to analyze fundamental dynamic characteristics of tilting railway vehicle using variable Link Mechanism for compensating both lateral acceleration that passengers feel and wheel load imbalance between inner and outer rails. Theoretical analysis is conducted to find “Perfect Tilting Condition” that is a geometric parameter set of Link Mechanism that can provide both zero lateral acceleration and zero wheel load imbalance simultaneously. This perfect tilting condition can be realized by changing the variable length of Link Mechanism so that this tilting control system is a kind of semi-active control. To change the length of Link Mechanism on curved section, feedforward + feedback optimal control theory is applied to the vehicle body tilting system with a developed variable Link Mechanism presented in 1st report. From computer simulation and experiment using a scale model, it is clarified that the proposed tilting control is effective to suppress both over-centrifugal acceleration and wheel load imbalance.

  • study on car body tilting system using variable Link Mechanism 1st report fundamental characteristics of pendulum motion and strategy of perfect tilting condition
    Transactions of the Japan Society of Mechanical Engineers. C, 2006
    Co-Authors: Hidehisa Yoshida, Masao Nagai
    Abstract:

    This paper aims to analyze fundamental dynamic characteristics of tilting railway vehicle using variable Link Mechanism for compensating both lateral acceleration that passengers feel and wheel load imbalance between inner and outer rails. In this report, geometric relations between the center of rotation, the center of gravity, and the positions of all four Links of tilting system are analyzed. Then, equations of the pendulum motions of railway vehicle body with four-Link Mechanism are derived. This paper theoretically discusses about the geometrical shapes of Link Mechanism that can provide zero lateral acceleration and zero wheel load fluctuation simultaneously. Then, “perfect tilting condition”, which is the control target of feedforward tilting control, is derived by linear equation of tilting motion.

  • Study on Car Body Tilting System Using Variable Link Mechanism
    JSME International Journal Series C, 2004
    Co-Authors: Masao Nagai, Hidehisa Yoshida, Takeshi Sueki, Shunsuke Shiomi
    Abstract:

    This study aims to analyze fundamental dynamical characteristics of a tilting railway vehicle using variable Link Mechanism for compensating both lateral acceleration that passengers feel and wheel load imbalance between inner and outer rails. Theoretical analysis is conducted to find “Perfect Tilting Condition” that is a geometric parameter set of Link Mechanism that can provide both zero lateral acceleration and zero wheel load imbalance simultaneously. This perfect tilting condition can be realized by changing the variable length of Link Mechanism so that this tilting control system is a kind of semi-active control. To change the length of Link Mechanism on curved section, optimal control theory is applied to the vehicle body tilting system with a newly developed variable Link Mechanism. From computer simulation and experiment using a scale model, it is clarified that the proposed tilting system is effective to suppress both over-centrifugal acceleration and wheel load imbalance.