Design method for a bilateral control system considering ambient environment around operated objects

Hiroaki Kuwahara, Shigeru Susa, Shoyo Hyodo, Kouhei Ohnishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

In teleoperation, the operated objects are often present in an ambient environment such as water or blood. It then becomes difficult to distinguish between the reaction force from the operated objects and the reaction force from the ambient environment. This affects the safety of the operation and the operation itself. In this paper, we propose a control method for reproducing the reaction forces from an operated object, excluding the reaction forces from the ambient environment. We introduced the concept of dynamic reproducibility, which is an ideal condition considering the ambient environment. Furthermore, a bilateral control system that considers the ambient environment is designed on the basis of dynamic reproducibility. The validity of the proposed system is confirmed by the simulation results and the experimental results.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume129
Issue number6
Publication statusPublished - 2009

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Control systems
Remote control
Blood
Water

Keywords

  • Ambient environment
  • Bilateral control
  • Haptics
  • Reproducibility
  • Teleoperation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Design method for a bilateral control system considering ambient environment around operated objects. / Kuwahara, Hiroaki; Susa, Shigeru; Hyodo, Shoyo; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 129, No. 6, 2009.

Research output: Contribution to journalArticle

Kuwahara, Hiroaki ; Susa, Shigeru ; Hyodo, Shoyo ; Ohnishi, Kouhei. / Design method for a bilateral control system considering ambient environment around operated objects. In: IEEJ Transactions on Industry Applications. 2009 ; Vol. 129, No. 6.
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