A method for estimation of operational torque considering of asymmetric property on bilateral control

Mari Kawamoto, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Bilateral control system is widely researched as a technique for robotic telesurgry, since reaction force from objects is important information for precise surgical operation. Reaction force/torque observer (RFOB/RTOB) realizes sensorless estimation of external force and it has been efficiently utilized for bilateral control. However, precise estimation of operational force is required for accurate estimation of reaction force. Otherwise the operability of the robot deteriorates. In addition, operational force, such as friction force, changes within the range of motion when the structure of the robot is asymmetric. This paper proposes a method for estimation of operational torque considering of the asymmetric property. The validity of the proposed method is confirmed by experimental results.

Original languageEnglish
Title of host publication4th International Conference on Human System Interaction, HSI 2011
Pages209-214
Number of pages6
DOIs
Publication statusPublished - 2011 Aug 11
Event4th International Conference on Human System Interaction, HSI 2011 - Yokohama, Japan
Duration: 2011 May 192011 May 21

Publication series

Name4th International Conference on Human System Interaction, HSI 2011

Other

Other4th International Conference on Human System Interaction, HSI 2011
CountryJapan
CityYokohama
Period11/5/1911/5/21

Keywords

  • Asymmetric Property
  • Bilateral Control
  • Haptics
  • Operational Torque
  • RFOB/RTOB
  • Teleoperation

ASJC Scopus subject areas

  • Human-Computer Interaction

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  • Cite this

    Kawamoto, M., & Ohnishi, K. (2011). A method for estimation of operational torque considering of asymmetric property on bilateral control. In 4th International Conference on Human System Interaction, HSI 2011 (pp. 209-214). [5937368] (4th International Conference on Human System Interaction, HSI 2011). https://doi.org/10.1109/HSI.2011.5937368