Identification of human and environmental impedances by using bilateral control system with low-pass filtered M-sequence signal

Toshiaki Okano, Takahiro Ishikawa, Takahiro Nozaki, Kouhei Ohnishi

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

Abstract

This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and the identification method of impedance is strongly desired to develop. In this paper, low-pass filtered M-sequence signal is added to the bilateral control system for identifying both human and environmental impedances with information in the frequency domain. Experiments were conducted for verifying the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5203-5208
Number of pages6
Volume2017-January
ISBN (Electronic)9781538611272
DOIs
Publication statusPublished - 2017 Dec 15
Event43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
Duration: 2017 Oct 292017 Nov 1

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
CountryChina
CityBeijing
Period17/10/2917/11/1

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

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