A bilateral control system to synchronize with haptic and visual sense for teleoperation over network

Shoyo Hyodo, Kouhei Ohnishi

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

In teleoperation, human operator manipulates a master robot while watching a video image which is sent from remote environment. If ideal bilateral control is realized in teleoperation, human operator can sense impedance of environment. This information will prevent from breaking remote environment and human operator can achieve more dexterous tasks. However, the presence of network delays between a master robot and a slave robot makes the design of this system challengeable. One of the concerns is the synchronization with haptic and visual sense. This paper proposes a bilateral control system to synchronize haptic and visual sense. For realizing this control target, the round trip time delayed master force is utilized. In the proposed control system, the position response of the master robot synchronizes with the visual image of the slave robot. The validity is confirmed by numerical analysis and experimental results.

Original languageEnglish
Pages (from-to)370-377
Number of pages8
JournalIEEJ Journal of Industry Applications
Volume5
Issue number5
DOIs
Publication statusPublished - 2016

Fingerprint

Remote control
Robots
Control systems
Numerical analysis
Synchronization

Keywords

  • Bilateral control
  • Haptics
  • Network delay
  • Synchronization with haptic and visual sense
  • Visual sense

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

A bilateral control system to synchronize with haptic and visual sense for teleoperation over network. / Hyodo, Shoyo; Ohnishi, Kouhei.

In: IEEJ Journal of Industry Applications, Vol. 5, No. 5, 2016, p. 370-377.

Research output: Contribution to journalArticle

@article{b422a4dd14a24f2c95de98f32ce33b62,
title = "A bilateral control system to synchronize with haptic and visual sense for teleoperation over network",
abstract = "In teleoperation, human operator manipulates a master robot while watching a video image which is sent from remote environment. If ideal bilateral control is realized in teleoperation, human operator can sense impedance of environment. This information will prevent from breaking remote environment and human operator can achieve more dexterous tasks. However, the presence of network delays between a master robot and a slave robot makes the design of this system challengeable. One of the concerns is the synchronization with haptic and visual sense. This paper proposes a bilateral control system to synchronize haptic and visual sense. For realizing this control target, the round trip time delayed master force is utilized. In the proposed control system, the position response of the master robot synchronizes with the visual image of the slave robot. The validity is confirmed by numerical analysis and experimental results.",
keywords = "Bilateral control, Haptics, Network delay, Synchronization with haptic and visual sense, Visual sense",
author = "Shoyo Hyodo and Kouhei Ohnishi",
year = "2016",
doi = "10.1541/ieejjia.5.370",
language = "English",
volume = "5",
pages = "370--377",
journal = "IEEJ Journal of Industry Applications",
issn = "2187-1094",
publisher = "The Institute of Electrical Engineers of Japan",
number = "5",

}

TY - JOUR

T1 - A bilateral control system to synchronize with haptic and visual sense for teleoperation over network

AU - Hyodo, Shoyo

AU - Ohnishi, Kouhei

PY - 2016

Y1 - 2016

N2 - In teleoperation, human operator manipulates a master robot while watching a video image which is sent from remote environment. If ideal bilateral control is realized in teleoperation, human operator can sense impedance of environment. This information will prevent from breaking remote environment and human operator can achieve more dexterous tasks. However, the presence of network delays between a master robot and a slave robot makes the design of this system challengeable. One of the concerns is the synchronization with haptic and visual sense. This paper proposes a bilateral control system to synchronize haptic and visual sense. For realizing this control target, the round trip time delayed master force is utilized. In the proposed control system, the position response of the master robot synchronizes with the visual image of the slave robot. The validity is confirmed by numerical analysis and experimental results.

AB - In teleoperation, human operator manipulates a master robot while watching a video image which is sent from remote environment. If ideal bilateral control is realized in teleoperation, human operator can sense impedance of environment. This information will prevent from breaking remote environment and human operator can achieve more dexterous tasks. However, the presence of network delays between a master robot and a slave robot makes the design of this system challengeable. One of the concerns is the synchronization with haptic and visual sense. This paper proposes a bilateral control system to synchronize haptic and visual sense. For realizing this control target, the round trip time delayed master force is utilized. In the proposed control system, the position response of the master robot synchronizes with the visual image of the slave robot. The validity is confirmed by numerical analysis and experimental results.

KW - Bilateral control

KW - Haptics

KW - Network delay

KW - Synchronization with haptic and visual sense

KW - Visual sense

UR - http://www.scopus.com/inward/record.url?scp=85018425795&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85018425795&partnerID=8YFLogxK

U2 - 10.1541/ieejjia.5.370

DO - 10.1541/ieejjia.5.370

M3 - Article

AN - SCOPUS:85018425795

VL - 5

SP - 370

EP - 377

JO - IEEJ Journal of Industry Applications

JF - IEEJ Journal of Industry Applications

SN - 2187-1094

IS - 5

ER -