Hydraulically driven joint for a force feedback manipulator
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- 作者：Tohru Sasaki ; tsasaki@eng.u-toyama.ac.jp" class="auth_mail" title="E-mail the corresponding author ; Keisuke Kokubo ; Hiromitsu Sakai
- 关键词：Hydraulically driven ; Active joint ; Force feedback ; Manipulator ; Micro-handling
- 刊名：Precision Engineering
- 出版年：2017
- 出版时间：January 2017
- 年：2017
- 卷：47
- 期：Complete
- 页码：445-451
- 全文大小：1801 K
文摘
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A hydraulically driven joint is constructed in a spherical bearing and bellows tubes.
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The developed system can measure the small forces acting on the tips of the manipulator.
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To estimate the refraction angle, we measured the quantity of water that was provided from syringes.
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The system can estimate the strength and direction of the external force.