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

Other

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

Fingerprint

Teleoperation
Haptics
Remote control
Impedance
Time Delay
Time delay
Operator
Phase Difference
Likely
Experiment
Simulation
Experiments

ASJC Scopus subject areas

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

Cite this

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

Impedance correction in time delayed teleoperation system. / Mizoguchi, Takahiro; Nozaki, Takahiro; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 416-421 6823318.

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

Mizoguchi, T, Nozaki, T & Ohnishi, K 2014, Impedance correction in time delayed teleoperation system. in International Workshop on Advanced Motion Control, AMC., 6823318, Institute of Electrical and Electronics Engineers Inc., pp. 416-421, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823318
Mizoguchi T, Nozaki T, Ohnishi K. Impedance correction in time delayed teleoperation system. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 416-421. 6823318 https://doi.org/10.1109/AMC.2014.6823318
Mizoguchi, Takahiro ; Nozaki, Takahiro ; Ohnishi, Kouhei. / Impedance correction in time delayed teleoperation system. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 416-421
@inproceedings{901900a955914ffd8fc0a0754ddc04d6,
title = "Impedance correction in time delayed teleoperation system",
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.",
author = "Takahiro Mizoguchi and Takahiro Nozaki and Kouhei Ohnishi",
year = "2014",
doi = "10.1109/AMC.2014.6823318",
language = "English",
isbn = "9781479923243",
pages = "416--421",
booktitle = "International Workshop on Advanced Motion Control, AMC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Impedance correction in time delayed teleoperation system

AU - Mizoguchi, Takahiro

AU - Nozaki, Takahiro

AU - Ohnishi, Kouhei

PY - 2014

Y1 - 2014

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

SP - 416

EP - 421

BT - International Workshop on Advanced Motion Control, AMC

PB - Institute of Electrical and Electronics Engineers Inc.

ER -