Bilateral motion control for reproduction of real world force sensation based on the environmental model

Tomoyuki Shimono, Seiichiro Katsura, Kouhei Ohnishi

Research output: Contribution to journalArticle

21 Citations (Scopus)

Abstract

This paper proposes abstraction and reproduction methods on bilateral control of real world force sensation, and reconstruction of real world environment as well. In the abstraction mode, a master-slave system is composed, and the action-reaction law is attained through bilateral control. Later, based on acceleration information, the force, position and velocity of both master and slave systems are estimated and obtained. In the reconstruction mode, an environmental model is reconstructed based on the obtained data from real-world. Next, by using reproduction mode on master side, the operator would feel the force sensation from the obtained environmental model. Here, the proposed system is able to store the bilateral real-world force sensation to a sensation database. Finally, the experimental results show the validity of the proposed method.

Original languageEnglish
Pages (from-to)1059-1068
Number of pages10
Journalieej transactions on industry applications
Volume126
Issue number8
DOIs
Publication statusPublished - 2006 Aug 15

Keywords

  • Bilateral control
  • Disturbance observer
  • Force sensation
  • Haptics
  • Motion control
  • Real environment

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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