Basic characteristics of the developed spherical stepping motor

Yano, Tomoaki; Suzuki, Toshimitsu; Sonoda, M.; Kaneko, Makoto

doi:10.1109/iros.1999.811674

Cited by 29 publications

(7 citation statements)

References 10 publications

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“…To date, several sphere driving mechanisms have been proposed. Yano developed a spherical stepping motor which achieved three-axis rotational motions [10]. However, a ball should be covered like Fig.…”

Section: Mechanical Designmentioning

confidence: 99%

A Spherical Haptic Interface with Unlimited Workspace

Tsumaki

Ohgi²,

Niiyama³

2010

International Journal on Smart Sensing and Intelligent Systems

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Abstract-Over the last two decades, various haptic interfaces have been developed. However, their workspace has been mechanically restricted. This limited workspace reduces operationality, because operation should be suspended at the boundary. In this paper, to tackle this problem, a spherical haptic interface is developed, which utilizes a ball as an interface with the human. The ball is driven by three DC motors through omni wheels. Consequently, unlimited workspace is achieved for orientation.Furthermore, a novel artificial sensation is implemented by rolling the ball with the palm.

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Section: Mechanical Designmentioning

confidence: 99%

A Spherical Haptic Interface with Unlimited Workspace

Tsumaki

Ohgi²,

Niiyama³

2010

International Journal on Smart Sensing and Intelligent Systems

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“…(2) Simplified control makes higher speed possible (3) Easy realization of the direct drive mechanism (4) Easy miniaturization (5) Striking energy saving effect (6) Making ultrahigh precision mechanical system possible A practical spherical motor would revolutionize the designs of mechanical systems. I have manufactured by way of trial and conducted research into a wide range of electromagnetic spherical motors, including an induction motor, synchronous motors, stepping motors and an AC servo motor; I have examined their characteristics and performances [1][2][3], and found new applications thereof [4]. Meanwhile, the output torque of these spherical motors is not enough for driving the robot joints.…”

Section: Introductionmentioning

confidence: 99%

Simulation results of a hexahedron-octahedron based spherical stepping motor

Yano

2010

J Mech Sci Technol

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The simulation results of a novel stepping motor based on a pair of a regular hexahedron and a regular octahedron (call "6-8 spherical stepping motor" afterward) are presented. The 3D electromagnet and motion coupled simulation program "Magnet 6" is used for the simulation. As the conditions of simulation, the excitation current and frequency is 1 A and 5.3 Hz, respectively. Three phase sinusoidal excitation currents are applied to two pairs of three coils of the stator individually at 120 deg intervals. The simulation results show that the rotor rotates along the rotating magnetic field and the output torque is 0.04 Nm. The simulation results prove the correctness of the 6-8 spherical motor driving method. The developed 6-8 spherical stepping motor is air-core type without back yoke for avoiding the cogging torque. When using iron core with back yoke, the proposed motor will be a high-torque spherical motor. The 6-8 spherical stepping motor was tested and the experimental results were compared with the simulation results. Then, the simulation program was used for optimum design of the 6-8 spherical stepping motor.

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“…Numerous actuation technologies especially traditional rotary electric motor is used in upper limb power assist exoskeleton robot, prosthetic arm and biologically inspired humanoid robot arm to generate human-like specific range of arm motions. In recent years, a number of actuators capable of generating multi DOF motion have also been proposed for robot manipulators (14)- (16) . However, the implantable joint actuator has not existed yet.…”

Section: Introductionmentioning

confidence: 99%

A New Approach for Human Forearm Motion Assist by Actuated Artificial Joint-An Inner Skeleton Robot

Kundu

Kiguchi

Teramoto

2008

JAMDSM

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In order to help the physical activities of the elderly or physically disabled persons, we propose a new concept of a power-assist inner skeleton robot (i.e., actuated artificial joint) that is supposed to assist the human daily life motion from inside of the human body. This paper presents an implantable 2 degree of freedom (DOF) inner skeleton robot that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities. We have developed a prototype of the inner skeleton robot that is supposed to assist the motion from inside of the body and act as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the electromyogram (EMG) signals of the user's muscles by applying fuzzy-neuro control method. A joint actuator with angular position sensor is designed for the inner skeleton robot and a T-Mechanism is proposed to keep the bone arrangement similar to the normal human articulation after the elbow arthroplasty. The effectiveness of the proposed system has been evaluated by experiment.

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Basic characteristics of the developed spherical stepping motor

Cited by 29 publications

References 10 publications

A Spherical Haptic Interface with Unlimited Workspace

A Spherical Haptic Interface with Unlimited Workspace

Simulation results of a hexahedron-octahedron based spherical stepping motor

A New Approach for Human Forearm Motion Assist by Actuated Artificial Joint-An Inner Skeleton Robot

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