Development of an optical sensor based torque regulation system with friction observer

Chang Wei, Wei Wang, Chiahao Kuo, Quanhe Li, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Physical human robot interaction has drawn widely interest and is going to be future trend. To realize this, impedance shaping, the ability to achieve an arbitrary impedance behavior is required. In this paper, we introduce an optical sensor based torque regulation method to realize large range impedance shaping, and we design a friction observer to improve positioning accuracy. Experimental results are presented to show it excellent performance.

    Original languageEnglish
    Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages869-874
    Number of pages6
    Volume2018-January
    ISBN (Electronic)9781538622636
    DOIs
    Publication statusPublished - 2018 Feb 1
    Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
    Duration: 2017 Dec 112017 Dec 14

    Other

    Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
    CountryTaiwan, Province of China
    CityTaipei
    Period17/12/1117/12/14

    Fingerprint

    Human robot interaction
    Optical Sensor
    Optical sensors
    optical measuring instruments
    Impedance
    Torque
    torque
    Observer
    Friction
    friction
    impedance
    Human-robot Interaction
    robots
    positioning
    Positioning
    trends
    Experimental Results
    Arbitrary
    Range of data
    interactions

    ASJC Scopus subject areas

    • Modelling and Simulation
    • Instrumentation
    • Artificial Intelligence
    • Computer Science Applications
    • Engineering (miscellaneous)
    • Materials Science (miscellaneous)
    • Control and Optimization

    Cite this

    Wei, C., Wang, W., Kuo, C., Li, Q., & Sugano, S. (2018). Development of an optical sensor based torque regulation system with friction observer. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (Vol. 2018-January, pp. 869-874). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279332

    Development of an optical sensor based torque regulation system with friction observer. / Wei, Chang; Wang, Wei; Kuo, Chiahao; Li, Quanhe; Sugano, Shigeki.

    SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 869-874.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Wei, C, Wang, W, Kuo, C, Li, Q & Sugano, S 2018, Development of an optical sensor based torque regulation system with friction observer. in SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 869-874, 2017 IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, Province of China, 17/12/11. https://doi.org/10.1109/SII.2017.8279332
    Wei C, Wang W, Kuo C, Li Q, Sugano S. Development of an optical sensor based torque regulation system with friction observer. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Vol. 2018-January. Institute of Electrical and Electronics Engineers Inc. 2018. p. 869-874 https://doi.org/10.1109/SII.2017.8279332
    Wei, Chang ; Wang, Wei ; Kuo, Chiahao ; Li, Quanhe ; Sugano, Shigeki. / Development of an optical sensor based torque regulation system with friction observer. SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. pp. 869-874
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