Single-axis arm designed with an ultrasonic motor: basic active/passive joint torque control
Fusaomi Nagata, Keisuke Ogiwara and Keigo Watanabe
Abstract:
This chapter highlights the active and passive joint torque control methods of a single-axis arm designed with an ultrasonic motor. Recently, many studies on assist robots have been conducted in which the development of a unique system is required to support aged persons, physically handicapped persons and/or carers. One of the representative systems is called the assist suit and is partially developed. The assist suit is a mechatronics device which can assist physical human actions. However, the current assist suit has a few problems with respect to cost, size, weight, longevity and so ...
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