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Proposal of a floating mechanism based on magnetic levitation method toward EEG-driven robotic system

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Nagai, K., Hayashi, Y., Ito, K., Loureiro, R., Nasuto, S. and Harwin, W. (2013) Proposal of a floating mechanism based on magnetic levitation method toward EEG-driven robotic system. In: Proceedings of Robotics Symposia (2013).

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Abstract/Summary

We discussed a floating mechanism based on quasi-magnetic levitation method that can be attached at the endpoint of a robot arm in order to construct a novel redundant robot arm for producing compliant motions. The floating mechanism can be composed of magnets and a constraint mechanism such that the repelling force of the magnets floats the endpoint part of the mechanism stable for the guided motions. The analytical and experimental results show that the proposed floating mechanism can produce stable floating motions with small inertia and viscosity. The results also show that the proposed mechanism can detect small force applied to the endpoint part because the friction force of the mechanism is very small.

Item Type:Conference or Workshop Item (Paper)
Refereed:Yes
Divisions:Faculty of Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:37410
Uncontrolled Keywords:Floating mechanism, Magnetic levitation

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