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 |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Pages | 3112-3117 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2009 |
| 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
Identification of contact condition based on modal motion stiffness by bilateral motion control. / Shimono, Tomoyuki; Ohnishi, Kouhei.
IECON Proceedings (Industrial Electronics Conference). 2009. p. 3112-3117 5415287.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Identification of contact condition based on modal motion stiffness by bilateral motion control
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2009
Y1 - 2009
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 - Conference contribution
AN - SCOPUS:77951562654
SP - 3112
EP - 3117
BT - IECON Proceedings (Industrial Electronics Conference)
ER -