Bilateral teleoperation in physical support for human

Kouhei Ohnishi

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

Abstract

Robots and intelligent machines in future should be autonomous in open situation to realize physical support for human. Since they intend to adapt themselves to unstructured environment, more complicated behaviors are needed. Controlled touching motion is one of the most important actions for the purpose. Haptics for real-world will treat such issues. Teleoperation with haptic realization will be a future target. Touching motion is inherently bilateral, since an action is always accompanied by a reaction. That means the artificial realization of touching needs very fast controller to keep the time-delay as small as possible. Not only time delay but also frequency range of force signal is important for vivid sensation. The acceleration controller brings wide-band controller which satisfies above requirements. The bilateral control with high transparency realizes the haptic database. By using bilateral preservation of action and reaction, it is possible to realize the individual's skill acquisition, skill training, skill transfer to the robots, haptic broadcasting, and so on. Furthermore, in order to support for human activities in remote environment, bilateral teleoperation over Internet is also one of the important issues. The paper shows that the acceleration-based bilateral teleoperation with a disturbance observer has robustness against even the communication delay.

Original languageEnglish
Title of host publicationProceedings of the World Forum on Smart Materials and Smart Structures Technology, SMSST'07
Pages55-62
Number of pages8
Publication statusPublished - 2008
EventWorld Forum on Smart Materials and Smart Structures Technology, SMSST 07 - Chongqing, Nanjing, China
Duration: 2007 May 222007 May 27

Other

OtherWorld Forum on Smart Materials and Smart Structures Technology, SMSST 07
CountryChina
CityChongqing, Nanjing
Period07/5/2207/5/27

Fingerprint

Remote control
Controllers
Time delay
Robots
Broadcasting
Transparency
Internet
Communication

ASJC Scopus subject areas

  • Civil and Structural Engineering
  • Electrical and Electronic Engineering

Cite this

Ohnishi, K. (2008). Bilateral teleoperation in physical support for human. In Proceedings of the World Forum on Smart Materials and Smart Structures Technology, SMSST'07 (pp. 55-62)

Bilateral teleoperation in physical support for human. / Ohnishi, Kouhei.

Proceedings of the World Forum on Smart Materials and Smart Structures Technology, SMSST'07. 2008. p. 55-62.

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

Ohnishi, K 2008, Bilateral teleoperation in physical support for human. in Proceedings of the World Forum on Smart Materials and Smart Structures Technology, SMSST'07. pp. 55-62, World Forum on Smart Materials and Smart Structures Technology, SMSST 07, Chongqing, Nanjing, China, 07/5/22.
Ohnishi K. Bilateral teleoperation in physical support for human. In Proceedings of the World Forum on Smart Materials and Smart Structures Technology, SMSST'07. 2008. p. 55-62
Ohnishi, Kouhei. / Bilateral teleoperation in physical support for human. Proceedings of the World Forum on Smart Materials and Smart Structures Technology, SMSST'07. 2008. pp. 55-62
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