Identification of contact condition based on modal motion stiffness by bilateral motion control

Tomoyuki Shimono; Kouhei Ohnishi

doi:10.1109/IECON.2009.5415287

Identification of contact condition based on modal motion stiffness by bilateral motion control

Tomoyuki Shimono, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper

Abstract

This paper proposes a recognition method of contact condition based on the concept of modal motion stiffness in bilateral control system. The acceleration control-based bilateral control method with modal decomposition can divide complicated human motion into the independent motion elements. Since it can transmit vivid force sensation from the real environment, precise environmental information can be abstracted as well. This paper presents a novel concept of modal motion stiffness. The modal motion stiffness expresses stiffness in each independent motion element which is called as a mode. Then, the identification of contact constraint can be realized from the proposed modal motion stiffness. The experimental results are shown in this paper in order to confirm the validity of the proposed method.

Original language	English
Pages	3112-3117
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5415287
Publication status	Published - 2009 Dec 1
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country	Portugal
City	Porto
Period	09/11/3 → 09/11/5

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ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Cite this

Shimono, T., & Ohnishi, K. (2009). Identification of contact condition based on modal motion stiffness by bilateral motion control. 3112-3117. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5415287

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Access to Document

10.1109/IECON.2009.5415287