Bilateral teleoperation with dimensional scaling for realization of mobile-hapto

Wataru Yamanouchi, Yuki Yokokura, Seiichiro Katsura, Kiyoshi Ohishi

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

22 Citations (Scopus)

Abstract

Multimedia technology has been widely spread as the basis for human communications. For example, telephone, television and radio broadcasting are good tools for remote communication. Recently, communication tools such as the portable telephone and Internet spread all over the world. These devices substitute humans eyes and ears. Haptic information has paid attention as the third multimedia information. Especially a transmission technique of real-world haptic information is demanded. This paper proposes a novel haptic transmission in different motion area, named "mobile-hapto". The "mobilehapto" consists of a mobile robot and a joystick. A mobile robot has infinite area for its motion. On the contrary, a joystick is fixed for operation by a human. To transmit haptic information in the "mobile-hapto", bilateral control with dimension scaling is proposed. As a result, intuitive manipulation becomes possible by using the "mobile-hapto". Effectiveness of the proposed method is verified by experimental results.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PublisherIEEE Computer Society
Pages1590-1595
Number of pages6
ISBN (Print)9781424417667
DOIs
Publication statusPublished - 2008 Jan 1
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period08/11/1008/11/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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