Bilateral force feedback control based on dynamic reconfiguration of system connection for safety operation

Takeshi Okura, Seiichiro Katsura

Research output: Contribution to journalArticle

Abstract

Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master-slave system is used widely. Since the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the multilateral control which changes the system connection depending on movement of the operator is proposed. The system connection is able to be changed without a switch by this proposed control. By using this proposed system, an operator can feel the environmental reaction force in the distant place. Moreover the operator can feel binding force from the system by changing the system connection when the slave system goes to the dangerous space. The effectiveness of this proposal is shown by an experiment.

Original languageEnglish
Pages (from-to)207-212
Number of pages6
JournalSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
Volume77
Issue number2
Publication statusPublished - 2011 Feb
Externally publishedYes

Fingerprint

Force control
Feedback control
Switches
Experiments

Keywords

  • Bilateral control
  • Force feedback control
  • Motion control
  • Real-world haptics
  • System connection

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

@article{523557bc08184e6e9e24cc8304e52e66,
title = "Bilateral force feedback control based on dynamic reconfiguration of system connection for safety operation",
abstract = "Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master-slave system is used widely. Since the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the multilateral control which changes the system connection depending on movement of the operator is proposed. The system connection is able to be changed without a switch by this proposed control. By using this proposed system, an operator can feel the environmental reaction force in the distant place. Moreover the operator can feel binding force from the system by changing the system connection when the slave system goes to the dangerous space. The effectiveness of this proposal is shown by an experiment.",
keywords = "Bilateral control, Force feedback control, Motion control, Real-world haptics, System connection",
author = "Takeshi Okura and Seiichiro Katsura",
year = "2011",
month = "2",
language = "English",
volume = "77",
pages = "207--212",
journal = "Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering",
issn = "0912-0289",
publisher = "Japan Society for Precision Engineering",
number = "2",

}

TY - JOUR

T1 - Bilateral force feedback control based on dynamic reconfiguration of system connection for safety operation

AU - Okura, Takeshi

AU - Katsura, Seiichiro

PY - 2011/2

Y1 - 2011/2

N2 - Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master-slave system is used widely. Since the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the multilateral control which changes the system connection depending on movement of the operator is proposed. The system connection is able to be changed without a switch by this proposed control. By using this proposed system, an operator can feel the environmental reaction force in the distant place. Moreover the operator can feel binding force from the system by changing the system connection when the slave system goes to the dangerous space. The effectiveness of this proposal is shown by an experiment.

AB - Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master-slave system is used widely. Since the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the multilateral control which changes the system connection depending on movement of the operator is proposed. The system connection is able to be changed without a switch by this proposed control. By using this proposed system, an operator can feel the environmental reaction force in the distant place. Moreover the operator can feel binding force from the system by changing the system connection when the slave system goes to the dangerous space. The effectiveness of this proposal is shown by an experiment.

KW - Bilateral control

KW - Force feedback control

KW - Motion control

KW - Real-world haptics

KW - System connection

UR - http://www.scopus.com/inward/record.url?scp=79952605156&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79952605156&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:79952605156

VL - 77

SP - 207

EP - 212

JO - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

JF - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

SN - 0912-0289

IS - 2

ER -