PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation
Yuki Shirato*1, Hiromi Mochiyama*1, Hisato Kobayashi*2,
Junya Tatsuno*3, and Hiroyuki Kawai*4
*1Department of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan
*2Faculty of Engineering and Design, Hosei University, 2-17-1 Fujimi, Chiyoda-ku, Tokyo 102-8160, Japan
*3Department of Mechanical Engineering, Kinki University, 1 Takeya-Umenobe, Higashi-Hiroshima, Hiroshima 739-2116, Japan
*4Department of Robotics, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Ishikawa 921-8501, Japan
The master-slave suction/exhalation we proposed for micromanipulation enables remote operation between a master and slave. Specifically, solenoid valves connected to pressure sources controlled by Pulse Width Modulation (PWM) generate suction or exhalation at the end of a straw based on an air flow generated by an operator. Our exploration of its basic performance, i.e., force generation capability and response, demonstrates its micromanipulation potential.
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