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

Tomoyuki Shimono, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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 languageEnglish
Pages3112-3117
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • 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