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 publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

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

Fingerprint

Haptics
Actuators
Disturbance
Actuator
Friction
Compensation and Redress
Experiments
Optimization Problem
Experiment

ASJC Scopus subject areas

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

Cite this

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

Identification and compensation of disturbance for real-world haptics. / Shimoichi, Takuma; Katsura, Seiichiro.

International Workshop on Advanced Motion Control, AMC. 2012. 6197142.

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

Shimoichi, T & Katsura, S 2012, Identification and compensation of disturbance for real-world haptics. in International Workshop on Advanced Motion Control, AMC., 6197142, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197142
Shimoichi T, Katsura S. Identification and compensation of disturbance for real-world haptics. In International Workshop on Advanced Motion Control, AMC. 2012. 6197142 https://doi.org/10.1109/AMC.2012.6197142
Shimoichi, Takuma ; Katsura, Seiichiro. / Identification and compensation of disturbance for real-world haptics. International Workshop on Advanced Motion Control, AMC. 2012.
@inproceedings{1321c61eeac04cbcb10e9ccf0cc4dc48,
title = "Identification and compensation of disturbance for real-world haptics",
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.",
author = "Takuma Shimoichi and Seiichiro Katsura",
year = "2012",
doi = "10.1109/AMC.2012.6197142",
language = "English",
isbn = "9781457710711",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - Identification and compensation of disturbance for real-world haptics

AU - Shimoichi, Takuma

AU - Katsura, Seiichiro

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84861591388&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84861591388&partnerID=8YFLogxK

U2 - 10.1109/AMC.2012.6197142

DO - 10.1109/AMC.2012.6197142

M3 - Conference contribution

AN - SCOPUS:84861591388

SN - 9781457710711

BT - International Workshop on Advanced Motion Control, AMC

ER -