Haptic micro manipulation using grasping/manipulating mode with different DOF

Daisuke Tomizuka, Kouhei Ohnishi

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

Abstract

In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that Voice Coil Motor (VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. Author proposed that bilateral control between different degree-of-freedom without position controller system attain the grasping task and the manipulation task simultaneously. However, the system without the position controller cannot position accurately because of the friction. Thus, bilateral control between different degree-of-freedom with position controller system accomplishing the grasping task and the manipulation task simultaneously by updating command is proposed. In addition, the proposed method based on both oblique coordinate control and decoupling method using MDOB are verified.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages710-715
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - 2016 Dec 21
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 2016 Oct 242016 Oct 27

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period16/10/2416/10/27

Keywords

  • Haptics
  • Micro macro bilateral control
  • Modal space disturbance observer
  • Oblique control
  • Voice Coil Motor(VCM)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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