Haptic broadcasting of grasping operation by multilateral control

Seiichiro Katsura, Kiyoshi Ohishi

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

1 Citation (Scopus)

Abstract

Real-world haptics is the key technology for future haptic communication engineering. In this technical point of view, this paper proposes a novel haptic broadcasting of grasping operation by multilateral control. The experimental haptic broadcasting system has two master systems and one slave system. Since each system has two degrees of freedom, it is possible to control the center-of-gravity position and grasping force, respectively. Furthermore, the paper implements the identity ratio in each master to transmit the same environmental impedance to each master. The experimental results show the viability of the proposed method.

Original languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Pages2302-2308
Number of pages7
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: 2007 Sep 172007 Sep 20

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period07/9/1707/9/20

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Keywords

  • Acceleration control
  • Bilateral teleoperation
  • Haptics
  • Modal decomposition
  • Motion control
  • Multilateral control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Katsura, S., & Ohishi, K. (2007). Haptic broadcasting of grasping operation by multilateral control. In SICE Annual Conference, SICE 2007 (pp. 2302-2308). [4421373] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2007.4421373