TY - GEN
T1 - Impedance correction in time delayed teleoperation system
AU - Mizoguchi, Takahiro
AU - Nozaki, Takahiro
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - This paper proposes a method to correct operators haptic sense under time delay teleoperation system. In general, time delayed teleoperation system has problem in haptic sense transmission due to time delay difference between velocity and force at the operator side. Operator is likely to feel different haptic sense than remote object. This paper treats time delay as phase difference between force and velocity to treat such a problem. Correction force is generated based on phase characteristic in proposed method. Simulation and experiments are carried out to support the proposal.
AB - This paper proposes a method to correct operators haptic sense under time delay teleoperation system. In general, time delayed teleoperation system has problem in haptic sense transmission due to time delay difference between velocity and force at the operator side. Operator is likely to feel different haptic sense than remote object. This paper treats time delay as phase difference between force and velocity to treat such a problem. Correction force is generated based on phase characteristic in proposed method. Simulation and experiments are carried out to support the proposal.
UR - http://www.scopus.com/inward/record.url?scp=84903144888&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903144888&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823318
DO - 10.1109/AMC.2014.6823318
M3 - Conference contribution
AN - SCOPUS:84903144888
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 416
EP - 421
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -