An experimental validation of electro-hydraulic transmission for haptic teleoperation-Comparison with thrust wire -

Francis Bechet, Kouhei Ohnishi

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

6 Citations (Scopus)

Abstract

This paper proposes an experimental validation of electro-hydraulic transmission for haptic teleoperation. Haptic teleoperation is an emerging technology that is designed to transmit position and force sensations of a distant environment to the human hand. Heretofore, it has been considered in several applications such as plant reparation, space exploration or laparoscopic surgery. So far, flexible actuator using thrust wire is one of the most efficient way of transmitting haptic sensations. However, compensations of friction and backlash caused by deflection and shape changes of wire remain veritable issues. In this paper, we propose to connect two syringes through a hydraulic tube in order to achieve position tracking and force transmission between an electromagnetic motor and a remotely located end-effector. By that mean, flexibility of thrust wire is replaced by the flexibility of hydraulic tube, mechanical friction is replaced by viscous friction, and backlash is avoided by incompressibility of fluid. The validity of the proposal is verified experimentally.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1174-1179
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14/6/114/6/4

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Keywords

  • Electro-hydraulic transmission
  • Flexible Actuator
  • Force Control
  • Haptics
  • Motion Control
  • Teleoperation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Bechet, F., & Ohnishi, K. (2014). An experimental validation of electro-hydraulic transmission for haptic teleoperation-Comparison with thrust wire -. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 1174-1179). [6864780] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864780