オカモト ジユン   OKAMOTO Jun
  岡本 淳
   所属   研究施設 研究施設
   職種   特任准教授
言語種別 英語
発表タイトル A human-powered joint drive mechanism using regenerative clutches
会議名 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
学会区分 国際学会及び海外の学会
発表者・共同発表者◎SUGAWARA Yusuke, KIKUI Kensuke, ENDO Mitsuru, OKAMOTO Jun, MATSUURA Daisuke, TAKEDA Yukio
発表年月日 2017/09/24
開催地
(都市, 国名)
Vancouver, BC, Canada
学会抄録 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 6337-6342
概要 In this paper, a development of a single DOF joint drive mechanism using regenerative servo clutches is described. The regenerative servo clutch is a kind of a clutch developed by the authors which consists of a regenerative brake and a differential gear mechanism, and it can control the transmitted torque by controlling the regenerative brake torque. The joint drive mechanism developed in this study is the system which can perform the servo control of the angle of the output shaft using the externally provided constant-speed power directly, by controlling the transmitted torque by using the two regenerative servo clutches for normal and reverse rotation. Through the experimental results, the effectiveness of the developed mechanism and controller was confirmed.