Abstraction of action components unconstrained by alignment of haptic sensing points

Hiroaki Kuwahara, Tomoyuki Shimono, Hiroyuki Tanaka, Daisuke Yashiro, Kouhei Ohnishi

Research output: Contribution to journalArticle

24 Citations (Scopus)

Abstract

This paper proposes an abstraction method of independent components of human action from haptic information. First, the haptic information is obtained using a haptic device (haptic bilateral system). Second, the action components can be abstracted from the haptic information by using the proposed method. The proposed method achieves abstraction of the action components unconstrained by the alignment of sensing points with simple calculations. The proposed method is applied for grasping and manipulation motions by two- and three-finger robots. The validity of the proposed method is shown by the experimental results.

Original languageEnglish
Article number5729340
Pages (from-to)3196-3204
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Volume58
Issue number8
DOIs
Publication statusPublished - 2011 Aug

Fingerprint

Robots

Keywords

  • Action components
  • bilateral control
  • haptic bilateral system
  • haptic motion
  • haptics
  • skill transfer

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Abstraction of action components unconstrained by alignment of haptic sensing points. / Kuwahara, Hiroaki; Shimono, Tomoyuki; Tanaka, Hiroyuki; Yashiro, Daisuke; Ohnishi, Kouhei.

In: IEEE Transactions on Industrial Electronics, Vol. 58, No. 8, 5729340, 08.2011, p. 3196-3204.

Research output: Contribution to journalArticle

Kuwahara, H, Shimono, T, Tanaka, H, Yashiro, D & Ohnishi, K 2011, 'Abstraction of action components unconstrained by alignment of haptic sensing points', IEEE Transactions on Industrial Electronics, vol. 58, no. 8, 5729340, pp. 3196-3204. https://doi.org/10.1109/TIE.2011.2126530
Kuwahara, Hiroaki ; Shimono, Tomoyuki ; Tanaka, Hiroyuki ; Yashiro, Daisuke ; Ohnishi, Kouhei. / Abstraction of action components unconstrained by alignment of haptic sensing points. In: IEEE Transactions on Industrial Electronics. 2011 ; Vol. 58, No. 8. pp. 3196-3204.
@article{451ea8e9d1eb4fa6839397f99cabeb3b,
title = "Abstraction of action components unconstrained by alignment of haptic sensing points",
abstract = "This paper proposes an abstraction method of independent components of human action from haptic information. First, the haptic information is obtained using a haptic device (haptic bilateral system). Second, the action components can be abstracted from the haptic information by using the proposed method. The proposed method achieves abstraction of the action components unconstrained by the alignment of sensing points with simple calculations. The proposed method is applied for grasping and manipulation motions by two- and three-finger robots. The validity of the proposed method is shown by the experimental results.",
keywords = "Action components, bilateral control, haptic bilateral system, haptic motion, haptics, skill transfer",
author = "Hiroaki Kuwahara and Tomoyuki Shimono and Hiroyuki Tanaka and Daisuke Yashiro and Kouhei Ohnishi",
year = "2011",
month = "8",
doi = "10.1109/TIE.2011.2126530",
language = "English",
volume = "58",
pages = "3196--3204",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",
number = "8",

}

TY - JOUR

T1 - Abstraction of action components unconstrained by alignment of haptic sensing points

AU - Kuwahara, Hiroaki

AU - Shimono, Tomoyuki

AU - Tanaka, Hiroyuki

AU - Yashiro, Daisuke

AU - Ohnishi, Kouhei

PY - 2011/8

Y1 - 2011/8

N2 - This paper proposes an abstraction method of independent components of human action from haptic information. First, the haptic information is obtained using a haptic device (haptic bilateral system). Second, the action components can be abstracted from the haptic information by using the proposed method. The proposed method achieves abstraction of the action components unconstrained by the alignment of sensing points with simple calculations. The proposed method is applied for grasping and manipulation motions by two- and three-finger robots. The validity of the proposed method is shown by the experimental results.

AB - This paper proposes an abstraction method of independent components of human action from haptic information. First, the haptic information is obtained using a haptic device (haptic bilateral system). Second, the action components can be abstracted from the haptic information by using the proposed method. The proposed method achieves abstraction of the action components unconstrained by the alignment of sensing points with simple calculations. The proposed method is applied for grasping and manipulation motions by two- and three-finger robots. The validity of the proposed method is shown by the experimental results.

KW - Action components

KW - bilateral control

KW - haptic bilateral system

KW - haptic motion

KW - haptics

KW - skill transfer

UR - http://www.scopus.com/inward/record.url?scp=79960352248&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79960352248&partnerID=8YFLogxK

U2 - 10.1109/TIE.2011.2126530

DO - 10.1109/TIE.2011.2126530

M3 - Article

AN - SCOPUS:79960352248

VL - 58

SP - 3196

EP - 3204

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

SN - 0278-0046

IS - 8

M1 - 5729340

ER -