Impedance correction in time delayed teleoperation system

Takahiro Mizoguchi, Takahiro Nozaki, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages416-421
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Mizoguchi, T., Nozaki, T., & Ohnishi, K. (2014). Impedance correction in time delayed teleoperation system. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 416-421). [6823318] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823318