Food tray carrying robot with man-machine interface

Author

Takahashi, Yoshihiko ; Kikuchi, Yasuhdco ; Ibaraki, Tatsuya ; Ogawa, Shinobu

Author_Institution

Dept. of Syst. Design Eng., Kanagawa Inst. of Technol., Japan

fYear

1999

fDate

36373

Firstpage

973

Lastpage

978

Abstract

A food tray carrying robot with a three-dimensional drive system and a man-machine interface is proposed. No electrical power is required to maintain the horizontal position of a food tray since a parallel link mechanism is used in the radial direction drive mechanism. The three-dimensional man-machine interface using strain gages is set under the food tray. A patient needs only small finger force to move the food tray because of the use of the three-dimensional man-machine interface. In the paper, the concept of the food tray carrying robot, the mechanical construction, the three-dimensional man-machine interface using strain gages, the control system, some of the experimental results, and the modeling of the robot arm are presented

Keywords

manipulators; medical robotics; position control; strain gauges; user interfaces; control system; food tray carrying robot; man-machine interface; patient; radial direction drive mechanism; strain gages; three-dimensional drive system; Actuators; Aging; Capacitive sensors; Control system synthesis; Fingers; Food technology; Gears; Robot sensing systems; Strain control; User interfaces;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual, 1999. 38th Annual Conference Proceedings of the

Conference_Location

Morioka

Print_ISBN

4-907764-13-8

Type

conf

DOI

10.1109/SICE.1999.788682

Filename

788682