Designing time delay compensation methods for functional modes using sensory evaluation

Shuhei Shimizu, Yoshiki Ohno, Takahiro Nozaki, Kouhei Ohnishi

Research output: Contribution to journalArticle

1 Citation (Scopus)


Time delay deteriorates bilateral control performance. Although many time delay compensation methods have been proposed, there is no clear index for selecting which compensation method should be used. Furthermore, such indices become even more necessary in systems with multiple degrees-of-freedom, as performance requirements differ for each functional mode according to the human sense that is evaluated. Therefore, in this paper, an indexing and design method for functional modes using sensory evaluation to select appropriate compensation methods is proposed. The experimental results demonstrate the validity of this proposal.

Original languageEnglish
Pages (from-to)755-764
Number of pages10
JournalIEEJ Transactions on Industry Applications
Issue number7
Publication statusPublished - 2015 Jul 1
Externally publishedYes



  • Bilateral control
  • Functional mode
  • Haptics
  • Sensory evaluation
  • Time delay compensation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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