Examination of stability and characteristics of gyrator type bilateral control; toward controller and transfer impedance design

Takahiro Mizoguchi, Takahiro Nozaki, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

This paper examines a stability characteristic of gyrator type bilateral control in order to determine a definite feedback gain and scaling design. Stability is examined based on root locus. Maximum stable gain, transfer impedance and transfer admittance are observed in the examination. Moreover, it is observed that at certain transfer impedance and admittance, gyrator type bilateral control and transformer type bilateral control become equivalent to each other. Validity of the analysis and characteristics of several transfer impedance and transfer admittance design are examined based on experiments.

Original languageEnglish
Title of host publicationProceedings - 5th International Conference on Human System Interactions, HSI 2012
Pages116-123
Number of pages8
DOIs
Publication statusPublished - 2012 Dec 1
Event5th International Conference on Human System Interactions, HSI 2012 - Perth, WA, Australia
Duration: 2012 Jun 62012 Jun 8

Publication series

NameInternational Conference on Human System Interaction, HSI
ISSN (Print)2158-2246
ISSN (Electronic)2158-2254

Other

Other5th International Conference on Human System Interactions, HSI 2012
CountryAustralia
CityPerth, WA
Period12/6/612/6/8

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Keywords

  • bilateral control
  • gyrator
  • transfer admittance
  • transfer impedance
  • transparency

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Software

Cite this

Mizoguchi, T., Nozaki, T., & Ohnishi, K. (2012). Examination of stability and characteristics of gyrator type bilateral control; toward controller and transfer impedance design. In Proceedings - 5th International Conference on Human System Interactions, HSI 2012 (pp. 116-123). [6473772] (International Conference on Human System Interaction, HSI). https://doi.org/10.1109/HSI.2012.25