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 › peer-review

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

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2009.5415287

Fingerprint Dive into the research topics of 'Identification of contact condition based on modal motion stiffness by bilateral motion control'. Together they form a unique fingerprint.

Cite this

@conference{6e25e74aca174449be868fa6afcbf6ee,

title = "Identification of contact condition based on modal motion stiffness by bilateral motion control",

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.",

author = "Tomoyuki Shimono and Kouhei Ohnishi",

year = "2009",

month = dec,

day = "1",

doi = "10.1109/IECON.2009.5415287",

language = "English",

pages = "3112--3117",

note = "35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 ; Conference date: 03-11-2009 Through 05-11-2009",

}

TY - CONF

T1 - Identification of contact condition based on modal motion stiffness by bilateral motion control

AU - Shimono, Tomoyuki

AU - Ohnishi, Kouhei

PY - 2009/12/1

Y1 - 2009/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=77951562654&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77951562654&partnerID=8YFLogxK

U2 - 10.1109/IECON.2009.5415287

DO - 10.1109/IECON.2009.5415287

M3 - Paper

AN - SCOPUS:77951562654

SP - 3112

EP - 3117

T2 - 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

Y2 - 3 November 2009 through 5 November 2009

ER -