Identification and compensation of disturbance for real-world haptics

Takuma Shimoichi, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Recently, the real-world haptics which deals with real-world tactile sense has been actively researched. In the real-world haptics, tactile information is dealt with by an actuator as a disturbance force. Therefore, the effect of other kinds of disturbance such as friction in an actuator should be minimized to extract clearer tactile information. If the disturbance is known in advance, the pure tactile information is able to be observed by compensation of the disturbance. Therefore, this paper proposes a method of determining modeled disturbance-parameter-values of an actuator. The proposed method is achieved by solving an optimization problem using bilateral control and disturbance model. The performance of bilateral control is increased by compensation of the disturbance using the proposal. The effectiveness of the proposed method is shown by experiments.

Original languageEnglish
Title of host publicationAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOIs
Publication statusPublished - 2012 Jun 4
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

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ASJC Scopus subject areas

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

Cite this

Shimoichi, T., & Katsura, S. (2012). Identification and compensation of disturbance for real-world haptics. In Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 [6197142] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2012.6197142