Analysis of generalized hybrid parameters based on macro-micro bilateral control for avoiding destruction of micro object

Masaki Takeya, Seiichiro Katsura

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

Abstract

This paper presents a novel concept of performance index for evaluating the scaled haptic transmission in a micro space. Bilateral control based on acceleration control enables human to acquire and render a tactile sensation. In order to realize the applications of a tactile sensation as well as audio and visual information, editing tactile information will be considered. However, the signal which is measured by a digital sensor is remarkably affected by a high-frequency domain disturbance or quantization error. The purpose of this paper is to expand the previous performance index with the interference of a high-frequency domain disturbance and quantization error. Considering the novel performance index, a modal space filter to extract expectation value is conducted by employing a Kalman filter for avoiding destruction of a micro object. In the experiments, the trade-off between a disturbance matrix and a quantization error matrix is confirmed, and 1000 times scaled haptic transmission that contacts with water fleas is achieved.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3654-3659
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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