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
Externally publishedYes

Fingerprint

Motion control

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Bilateral motion control for reproduction of real world force sensation based on the environmental model. / Shimono, Tomoyuki; Katsura, Seiichiro; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 126, No. 8, 2006, p. 1059-1068.

Research output: Contribution to journalArticle

@article{0f7a66a0714442919180ddfffbd8f8b2,
title = "Bilateral motion control for reproduction of real world force sensation based on the environmental model",
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.",
keywords = "Bilateral control, Disturbance observer, Force sensation, Haptics, Motion control, Real environment",
author = "Tomoyuki Shimono and Seiichiro Katsura and Kouhei Ohnishi",
year = "2006",
doi = "10.1541/ieejias.126.1059",
language = "English",
volume = "126",
pages = "1059--1068",
journal = "IEEJ Transactions on Industry Applications",
issn = "0913-6339",
publisher = "The Institute of Electrical Engineers of Japan",
number = "8",

}

TY - JOUR

T1 - Bilateral motion control for reproduction of real world force sensation based on the environmental model

AU - Shimono, Tomoyuki

AU - Katsura, Seiichiro

AU - Ohnishi, Kouhei

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

KW - Bilateral control

KW - Disturbance observer

KW - Force sensation

KW - Haptics

KW - Motion control

KW - Real environment

UR - http://www.scopus.com/inward/record.url?scp=33746930615&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33746930615&partnerID=8YFLogxK

U2 - 10.1541/ieejias.126.1059

DO - 10.1541/ieejias.126.1059

M3 - Article

AN - SCOPUS:33746930615

VL - 126

SP - 1059

EP - 1068

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

SN - 0913-6339

IS - 8

ER -