A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component)

In recent years, surgical robots have come into wider use. These robots do not yet provide a force sense to the surgeon, but such force sense will be necessary on the next generation of surgical robots. When the slave motor needs to generate a larger or smaller driving force than the master motor, m...
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Autor*in:	Kunihiko TACHIBANA [verfasserIn] Yoshio INOUE [verfasserIn] Kazumasa ORIHASHI [verfasserIn]

Format:	E-Artikel
Sprache:	Japanisch

Erschienen:	2016

Schlagwörter:	master slave series connection bilateral control shunt resistor force sense

Übergeordnetes Werk:	In: Nihon Kikai Gakkai ronbunshu - The Japan Society of Mechanical Engineers, 2022, 82(2016), 834, Seite 15-00506-15-00506
Übergeordnetes Werk:	volume:82 ; year:2016 ; number:834 ; pages:15-00506-15-00506

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1299/transjsme.15-00506

Katalog-ID:	DOAJ019960425

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allfields	10.1299/transjsme.15-00506 doi (DE-627)DOAJ019960425 (DE-599)DOAJ9618c20f894e49ac9f51176563ecf4be DE-627 ger DE-627 rakwb jpn TJ1-1570 TA213-215 Kunihiko TACHIBANA verfasserin aut A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component) 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In recent years, surgical robots have come into wider use. These robots do not yet provide a force sense to the surgeon, but such force sense will be necessary on the next generation of surgical robots. When the slave motor needs to generate a larger or smaller driving force than the master motor, mechanical gearing is normally used. This leads to large mechanical losses. A small force sensed at the slave cannot be transmitted back to the master. We have proposed a master-slave system of the series connection type that generates a force sense using conventional bilateral control. However, when linking together motors of different output power, the allowable current of the small power output motor is insufficient to drive the large power output motor. We now propose a method that combines a motor with a shunt resistor. If a resistor is connected to a motor in parallel, the allowable circuit current increases, removing the current limitation and increasing the circuit current. This approach also allows the variable force to be sensed by changing the shunt resistor. We experimentally confirmed the effectiveness of the proposed method. In this paper, the principles of using a shunt resistor for changing the force sense are explained, and our experimental results are presented. master slave series connection bilateral control shunt resistor force sense Mechanical engineering and machinery Engineering machinery, tools, and implements Yoshio INOUE verfasserin aut Kazumasa ORIHASHI verfasserin aut In Nihon Kikai Gakkai ronbunshu The Japan Society of Mechanical Engineers, 2022 82(2016), 834, Seite 15-00506-15-00506 (DE-627)1028882408 21879761 nnns volume:82 year:2016 number:834 pages:15-00506-15-00506 https://doi.org/10.1299/transjsme.15-00506 kostenfrei https://doaj.org/article/9618c20f894e49ac9f51176563ecf4be kostenfrei https://www.jstage.jst.go.jp/article/transjsme/82/834/82_15-00506/_pdf/-char/en kostenfrei https://doaj.org/toc/2187-9761 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 82 2016 834 15-00506-15-00506
spelling	10.1299/transjsme.15-00506 doi (DE-627)DOAJ019960425 (DE-599)DOAJ9618c20f894e49ac9f51176563ecf4be DE-627 ger DE-627 rakwb jpn TJ1-1570 TA213-215 Kunihiko TACHIBANA verfasserin aut A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component) 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In recent years, surgical robots have come into wider use. These robots do not yet provide a force sense to the surgeon, but such force sense will be necessary on the next generation of surgical robots. When the slave motor needs to generate a larger or smaller driving force than the master motor, mechanical gearing is normally used. This leads to large mechanical losses. A small force sensed at the slave cannot be transmitted back to the master. We have proposed a master-slave system of the series connection type that generates a force sense using conventional bilateral control. However, when linking together motors of different output power, the allowable current of the small power output motor is insufficient to drive the large power output motor. We now propose a method that combines a motor with a shunt resistor. If a resistor is connected to a motor in parallel, the allowable circuit current increases, removing the current limitation and increasing the circuit current. This approach also allows the variable force to be sensed by changing the shunt resistor. We experimentally confirmed the effectiveness of the proposed method. In this paper, the principles of using a shunt resistor for changing the force sense are explained, and our experimental results are presented. master slave series connection bilateral control shunt resistor force sense Mechanical engineering and machinery Engineering machinery, tools, and implements Yoshio INOUE verfasserin aut Kazumasa ORIHASHI verfasserin aut In Nihon Kikai Gakkai ronbunshu The Japan Society of Mechanical Engineers, 2022 82(2016), 834, Seite 15-00506-15-00506 (DE-627)1028882408 21879761 nnns volume:82 year:2016 number:834 pages:15-00506-15-00506 https://doi.org/10.1299/transjsme.15-00506 kostenfrei https://doaj.org/article/9618c20f894e49ac9f51176563ecf4be kostenfrei https://www.jstage.jst.go.jp/article/transjsme/82/834/82_15-00506/_pdf/-char/en kostenfrei https://doaj.org/toc/2187-9761 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 82 2016 834 15-00506-15-00506
allfields_unstemmed	10.1299/transjsme.15-00506 doi (DE-627)DOAJ019960425 (DE-599)DOAJ9618c20f894e49ac9f51176563ecf4be DE-627 ger DE-627 rakwb jpn TJ1-1570 TA213-215 Kunihiko TACHIBANA verfasserin aut A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component) 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In recent years, surgical robots have come into wider use. These robots do not yet provide a force sense to the surgeon, but such force sense will be necessary on the next generation of surgical robots. When the slave motor needs to generate a larger or smaller driving force than the master motor, mechanical gearing is normally used. This leads to large mechanical losses. A small force sensed at the slave cannot be transmitted back to the master. We have proposed a master-slave system of the series connection type that generates a force sense using conventional bilateral control. However, when linking together motors of different output power, the allowable current of the small power output motor is insufficient to drive the large power output motor. We now propose a method that combines a motor with a shunt resistor. If a resistor is connected to a motor in parallel, the allowable circuit current increases, removing the current limitation and increasing the circuit current. This approach also allows the variable force to be sensed by changing the shunt resistor. We experimentally confirmed the effectiveness of the proposed method. In this paper, the principles of using a shunt resistor for changing the force sense are explained, and our experimental results are presented. master slave series connection bilateral control shunt resistor force sense Mechanical engineering and machinery Engineering machinery, tools, and implements Yoshio INOUE verfasserin aut Kazumasa ORIHASHI verfasserin aut In Nihon Kikai Gakkai ronbunshu The Japan Society of Mechanical Engineers, 2022 82(2016), 834, Seite 15-00506-15-00506 (DE-627)1028882408 21879761 nnns volume:82 year:2016 number:834 pages:15-00506-15-00506 https://doi.org/10.1299/transjsme.15-00506 kostenfrei https://doaj.org/article/9618c20f894e49ac9f51176563ecf4be kostenfrei https://www.jstage.jst.go.jp/article/transjsme/82/834/82_15-00506/_pdf/-char/en kostenfrei https://doaj.org/toc/2187-9761 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 82 2016 834 15-00506-15-00506
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language	Japanese
source	In Nihon Kikai Gakkai ronbunshu 82(2016), 834, Seite 15-00506-15-00506 volume:82 year:2016 number:834 pages:15-00506-15-00506
sourceStr	In Nihon Kikai Gakkai ronbunshu 82(2016), 834, Seite 15-00506-15-00506 volume:82 year:2016 number:834 pages:15-00506-15-00506
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topic_facet	master slave series connection bilateral control shunt resistor force sense Mechanical engineering and machinery Engineering machinery, tools, and implements
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container_title	Nihon Kikai Gakkai ronbunshu
authorswithroles_txt_mv	Kunihiko TACHIBANA @@aut@@ Yoshio INOUE @@aut@@ Kazumasa ORIHASHI @@aut@@
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callnumber-first	T - Technology
author	Kunihiko TACHIBANA
spellingShingle	Kunihiko TACHIBANA misc TJ1-1570 misc TA213-215 misc master slave misc series connection misc bilateral control misc shunt resistor misc force sense misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component)
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topic_title	TJ1-1570 TA213-215 A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component) master slave series connection bilateral control shunt resistor force sense
topic	misc TJ1-1570 misc TA213-215 misc master slave misc series connection misc bilateral control misc shunt resistor misc force sense misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements
topic_unstemmed	misc TJ1-1570 misc TA213-215 misc master slave misc series connection misc bilateral control misc shunt resistor misc force sense misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements
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title	A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component)
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title_full	A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component)
author_sort	Kunihiko TACHIBANA
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author_browse	Kunihiko TACHIBANA Yoshio INOUE Kazumasa ORIHASHI
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title_sort	method of change of force sense for series connection type master slave actuator (to change of force sense without changing mechanical component)
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title_auth	A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component)
abstract	In recent years, surgical robots have come into wider use. These robots do not yet provide a force sense to the surgeon, but such force sense will be necessary on the next generation of surgical robots. When the slave motor needs to generate a larger or smaller driving force than the master motor, mechanical gearing is normally used. This leads to large mechanical losses. A small force sensed at the slave cannot be transmitted back to the master. We have proposed a master-slave system of the series connection type that generates a force sense using conventional bilateral control. However, when linking together motors of different output power, the allowable current of the small power output motor is insufficient to drive the large power output motor. We now propose a method that combines a motor with a shunt resistor. If a resistor is connected to a motor in parallel, the allowable circuit current increases, removing the current limitation and increasing the circuit current. This approach also allows the variable force to be sensed by changing the shunt resistor. We experimentally confirmed the effectiveness of the proposed method. In this paper, the principles of using a shunt resistor for changing the force sense are explained, and our experimental results are presented.
abstractGer	In recent years, surgical robots have come into wider use. These robots do not yet provide a force sense to the surgeon, but such force sense will be necessary on the next generation of surgical robots. When the slave motor needs to generate a larger or smaller driving force than the master motor, mechanical gearing is normally used. This leads to large mechanical losses. A small force sensed at the slave cannot be transmitted back to the master. We have proposed a master-slave system of the series connection type that generates a force sense using conventional bilateral control. However, when linking together motors of different output power, the allowable current of the small power output motor is insufficient to drive the large power output motor. We now propose a method that combines a motor with a shunt resistor. If a resistor is connected to a motor in parallel, the allowable circuit current increases, removing the current limitation and increasing the circuit current. This approach also allows the variable force to be sensed by changing the shunt resistor. We experimentally confirmed the effectiveness of the proposed method. In this paper, the principles of using a shunt resistor for changing the force sense are explained, and our experimental results are presented.
abstract_unstemmed	In recent years, surgical robots have come into wider use. These robots do not yet provide a force sense to the surgeon, but such force sense will be necessary on the next generation of surgical robots. When the slave motor needs to generate a larger or smaller driving force than the master motor, mechanical gearing is normally used. This leads to large mechanical losses. A small force sensed at the slave cannot be transmitted back to the master. We have proposed a master-slave system of the series connection type that generates a force sense using conventional bilateral control. However, when linking together motors of different output power, the allowable current of the small power output motor is insufficient to drive the large power output motor. We now propose a method that combines a motor with a shunt resistor. If a resistor is connected to a motor in parallel, the allowable circuit current increases, removing the current limitation and increasing the circuit current. This approach also allows the variable force to be sensed by changing the shunt resistor. We experimentally confirmed the effectiveness of the proposed method. In this paper, the principles of using a shunt resistor for changing the force sense are explained, and our experimental results are presented.
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title_short	A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component)
url	https://doi.org/10.1299/transjsme.15-00506 https://doaj.org/article/9618c20f894e49ac9f51176563ecf4be https://www.jstage.jst.go.jp/article/transjsme/82/834/82_15-00506/_pdf/-char/en https://doaj.org/toc/2187-9761
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A method of change of force sense for series connection type master slave actuator (To change of force sense without changing mechanical component)

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