Abstraction and reproduction of force sensation from real environment by bilateral control

Tomoyuki Shimono, Seiichiro Katsura, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

In recent years, skill preservation of an expert has been a serious problem in the medical or production fields. If digital skill preservation like a bilateral database is attained, it may become an innovative solution of the above problem. In this paper, abstraction and reproduction methods of force sensation from the real environment by bilateral control, and reconstruction method of the real environment are proposed. In the abstraction mode, a master-slave system is composed and the law of action and reaction is attained by bilateral control. We succeeded in realization of a vivid sensation of touch for bilateral robot system. Force and position information of both of master and slave systems is calculated and obtained, being based on acceleration information. In the reconstruction mode, an environment model is reconstructed from the obtained data of the real environment. In the reproduction mode, only the master system is prepared. Human operates the master system and feels force sensation from the environmental model which is reconstructed in the reconstruction mode. As a result, the proposed system is able to store the real environment as a bilateral database. The experimental results show the viability of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Pages1521-1526
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIEEE International Symposium on Industrial Electronics 2005, ISIE 2005 - Dubrovnik, Croatia
Duration: 2005 Jun 202005 Jun 23

Publication series

NameIEEE International Symposium on Industrial Electronics
VolumeIV

Other

OtherIEEE International Symposium on Industrial Electronics 2005, ISIE 2005
CountryCroatia
CityDubrovnik
Period05/6/2005/6/23

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Shimono, T., Katsura, S., & Ohnishi, K. (2005). Abstraction and reproduction of force sensation from real environment by bilateral control. In Proceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005 (pp. 1521-1526). [1529158] (IEEE International Symposium on Industrial Electronics; Vol. IV). https://doi.org/10.1109/ISIE.2005.1529158