Katsuya Kanaoka

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In this paper, a Virtual Power Limiter System is proposed. This requires no modeling and makes it possible to guarantee the stability of control systems which include unknown characteristics: flexibility in flexible manipulators, compressibility in pneumatic servo systems, human dynamics in man-machine systems, hardware nonlinearity in mechatronic systems,(More)
In this paper, three fundamental techniques to improve laminated passive elements are proposed for wearable haptic displays. First, a new shape of sheet surfaces in laminated passive elements is introduced. Sliding motion between laminated sheets causes unexpected bad effect to static stiffness. An effective triangle shape for sheet surfaces, which prevents(More)
This paper proposes power assist controllers that realize control input minimization using resonance of passive elements. To satisfy the objective, two types of systems are considered and controllers are proposed for each system. These controllers require no biosignals and satisfy causal manner. Convergence of the controllers is discussed theoretically.(More)
In this paper, we propose a power assist system that amplifies sinusoidal human's torque and attains minimization of control input requirement using an impedance control and resonance. This impedance control is designed to realize the following features: 1) sinusoidal torque amplification. 2) Minimization of control input requirement by adjusting stiffness.(More)
This paper proposes a tracking control method of sinusoidal motions utilizing stiffness adjustment of mechanical elastic elements for serial link systems. Although dynamics of the controlled objects is nonlinear, the stiffness adjustment realize a condition similar to a resonance of linear systems. We present a controller that adjusts stiffness of the(More)
When we control a flexible manipulator based on a dynamic model, we need to estimate the state variables with accuracy. In the case of rigid manipulators, the state variables consist of joint angles and their velocities, which are measured easily by encoders, potentiometers, tachometers, and so on. In the case of flexible manipulators, however, the state(More)
In this paper, we propose a passivity monitor which evaluates stability of a system based on the concept of passivity, and a software limiter which turns the system stable if it is originally unstable. It is shown that asymptotic stability will be guaranteed for arbitrary robots with arbitrary control schemes and environments, even if their properties are(More)
Estimation of joint torque is an important objective in the analyses of human motion. In particular, many applications seek to discern torque during a desired human motion, which is equivalent to solving the inverse dynamics. The computed torque method is a conventional means of calculating inverse dynamics. The obtained torque, however, invariably includes(More)
In the case of control for nonlinear mechanical systems, which have complex actuator dynamics, the total system becomes high-order and nonlinear. Generally speaking, it is not easy to tune feedback gains for state feedback. In this paper, we propose a feedback control scheme for motion control of nonlinear high-order systems. We prove that the proposed(More)