Bilateral control considering transition of subsystems based on ability to oppose the thumb

Yuki Nagatsu, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

As an academic field which deals with transmission and reproduction of human tactile information, there exists real-world haptics. Bilateral control is an important technology of real-world haptics to transmit tactile information between operators and environment. It is desirable for master or slave systems to work autonomously in order to adapt themselves for motions of operator or environment. In addition, varying the number of driven systems contributes energy conservation and wastes reduction according to change of connection between subsystems. In this paper, a bilateral control system is proposed which realize adaptability to environmental variation of motion and energy conservation by varying system configurations. The variance of system configurations is derived from expression of human fingers as a dynamic model of informationally connected system based on ability to oppos the thumb. ability to oppos the thumb is a necessary function of human fingers and an element which makes the connection vary dynamically. The model is applied to three-fingered bilateral control system. By using proposed method, flexibility to variation of environmental movement and higher concentration to the main tasks and energy conservation are obtained for the bilateral teleoperation. Experimental results show validity of the proposed method.

Original languageEnglish
Title of host publicationProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Pages4388-4393
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
Duration: 2012 Oct 252012 Oct 28

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Nagatsu, Y., & Katsura, S. (2012). Bilateral control considering transition of subsystems based on ability to oppose the thumb. In Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society (pp. 4388-4393). [6389182] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2012.6389182