1A1-I09 Force feedback method of relaying proprioception in telexistence systems

Rattan on frequently attacked by the powder post beetle (Tellu, 2001). The prevention of dry powder attacks is done by preservation. The increasing resistant of rattan from insect attack can be done by an environmentally friendly preservative, the Galam wood vinegar. This research aims to determine the most effective concentration of preservative that shows the lowest attacks level of D. Farb minutus powder. The rattan used is green rattan (Calamus sp.) The concentration of preservative that are used:10%, 40%, 70% and 100%. The testing of dry powder attack used force feedback method. The effectiveness test parameters of wood vinegar to dry powder attacks included degree of protection Dinoderus minutus Farb. powder, reduction percentage of rattan weight and the mortality of dry powder Dinoderus sp for toxicological testing of wood vinegar. The test results showed that the degree of protection powder in rattan growing along with the increased concentration of preservatives. The higher the concentration of wood vinegar, the smaller the reduction of rattan weight and the higher the mortality rate of dry powder. Keywords: resistant of rattan, wood vinegar, Dinoderus minutus.

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Fundamental characteristics of force feedback method using elastic spring and magneto-rheological fluid clutch

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2019.1p1-t04 ◽

2019 ◽

Vol 2019 (0) ◽

pp. 1P1-T04

Author(s):

Minoru OBA ◽

Yuki ONOZUKA ◽

Manabu OKUI ◽

Taro NAKAMURA

Keyword(s):

Force Feedback ◽

Feedback Method ◽

Magneto Rheological ◽

Elastic Spring

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Contact Force Control of Three-Dimensional Flexible Manipulator

10.20944/preprints202011.0044.v1 ◽

2020 ◽

Author(s):

Minoru Sasaki ◽

Shunta Ito ◽

Daiki Maeno ◽

Waweru Njeri ◽

Muguro Josephh ◽

...

Keyword(s):

Contact Force ◽

Force Control ◽

Degrees Of Freedom ◽

Force Feedback ◽

Three Dimensional ◽

Flexible Manipulator ◽

Force Tracking ◽

Feedback Method ◽

Three Degrees Of Freedom ◽

Contact Force Control

This paper proposes a contact force controller for a constrained flexible manipulator in three-dimensional motion. This controller used the conversion formula obtained empirically and experimental results showed the effectiveness of the proposed contact force controller. First, the manipulator was operated with the tip of the second link restrained, then, time response of the root strain, joint angles and contact force were used to derive the relational between the three quantities. The effectiveness of the relational expression was verified by conducting a target contact force tracking experiment by inputting the angle from the relational expression. The contact force control using the strain feedback method was proposed with the strain amount estimated from the target contact force as the target value, and its effectiveness was verified by experiments. From the results obtained, controller using the strain feedback method was designed for the purpose of controlling the contact force at the tip of a flexible manipulator with two links and three degrees of freedom that performs three-dimensional spatial motion, and its effectiveness was shown by comparison with the contact force feedback method.

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Fundamental characteristics for rendering elasticity of a force feedback method using elastic spring and magneto-rheological fluid clutch

2020 IEEE/SICE International Symposium on System Integration (SII) ◽

10.1109/sii46433.2020.9025927 ◽

2020 ◽

Author(s):

M. Ooba ◽

Y. Onozuka ◽

M. Okui ◽

T. Nakamura

Keyword(s):

Force Feedback ◽

Feedback Method ◽

Magneto Rheological ◽

Elastic Spring

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Application of Surface Display into Shape Forming Task

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1997.p0185 ◽

1997 ◽

Vol 9 (3) ◽

pp. 185-192

Author(s):

Koichi Hirota ◽

◽

Jun Saito ◽

Michitaka Hirose ◽

◽

...

Keyword(s):

Force Feedback ◽

Surface Display ◽

Surface Force ◽

Modeling Environment ◽

Feedback Method

The sensation of Touch and force is generated or conducted through the phenomenon of contact. This fact make us aware of a new force feedback method, which was named the concept of Surface Display. In this concept, we are remarking not on the force between the user and the object but on the surface and existence of the object. The force feedback device based on this concept presents the surface of an object, the user interact with surface. Force is caused only as a result and it is measured by the device for the simulation of the behavior of the object. In this paper, the application of the device into a shape forming task is discussed. We have developed a kind of the virtual clay modeling environment, in which the shape of the surface can be changed by pushing directly on the surface. Sensation of making contact with the surface and the sensation of force caused by the elas ticity of the clay is fedback by using the device. From an experiment in the environment, the importance and effectiveness of force feedback were made clear.

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