Automating advanced skill movements by mimicking the delicate touch of artisans.
Information and Communication Technology (Saitama University Research Seed Collection 2025-27 p.73)
Keywords: Robot, force sensor, force control, machine learning, automation
There is still a significant gap between tasks that require skilled craftsmanship and those that can be automated with robots. In our laboratory, we are advancing efforts to measure the delicate force adjustments involved in skilled movements in order to investigate the mechanisms by which artisans perform dexterous tasks. If the motion analysis technology of skilled craftsmanship and machine learning for reproducing it are integrated, it could fundamentally reduce the teaching costs for polishing and assembly, potentially expanding the range of automation technology to accommodate small-batch, high-variety production. As key technologies, we are developing: (1) HDR 6-axis force sensors that can measure weights from 0.5g to 100kg, (2) signal processing technology to estimate the force adjustments of tools, (3) technology to autonomously generate command data that should be reproduced in skilled movements from a database of position and force motion data.
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Toshiaki Tsuji, Associate Professor Graduate School of Science and Engineering, Department of Mathematical and Electronic Information, Field of Electrical and Electronic Physics [Recent Research Themes] ● Rehabilitation Support Robots ● Force-based Robot Environmental Recognition
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【Appeal Points to the Industry】 ● Automation of tasks that require delicate force adjustments is possible. ● Teaching time is reduced by allowing humans to directly teach the tasks. ● In addition to automatically learning tasks that span multiple steps, robots can gradually increase the success rate of tasks through repeated trials. 【Examples of Practical Use, Applications, and Utilization】 ● High Dynamic Range (HDR) 6-axis force sensor ● Dual safety force sensor ● High-speed precision assembly robot control system ● Robots that recognize features such as clicks and contact states to improve task success rates.
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Precision assembly of gears with a 10μm spacing inserted into pegs.
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The Saitama University Open Innovation Center is a center that functions as a liaison office for industry-academia-government collaboration. It consists of three departments: the Industry-Academia-Government Collaboration Department, the Intellectual Property Department, and the Startup Support Department, each staffed with coordinators well-versed in various fields. The center's activities include solving technical challenges in companies, supporting the implementation of joint research, and conducting technology transfer aimed at introducing and utilizing Saitama University's intellectual property.