Yuki Yokokura

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This paper examines the stability of our proposed motion-copying system in the case that the environmental mechanical impedance is changed. The system preserves and reproduces the motion of the human operator. The examination of this paper derives the transfer function of the motion-loading system considering the environmental impedance and investigates(More)
We study a classical many-particle system with an external control represented by a time-dependent extensive parameter in a Lagrangian. We show that thermodynamic entropy of the system is uniquely characterized as the Noether invariant associated with a symmetry for an infinitesimal nonuniform time translation t→t+ηℏβ, where η is a small parameter, ℏ is the(More)
The approach used to implement mechanical impedance can be generally separated into the following two types: an impedance control system and an admittance control system. When an impedance control system reproduces a hard environment, large vibrations are generated. In contrast, an admittance control system is excellent at reproducing a high-stiffness(More)
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