Methods for reduction of operational force in force sensor-less bilateral control with thrust wire

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

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

7 Citations (Scopus)

Abstract

Force sensor-less bilateral control with thrust wire can realize low-cost bilateral applications and is very useful. However, there is a problem. Since modeling of the thrust wire is very difficult, there is disturbance from modeling error of the thrust wire. Thus, an operator feels heavy operational force caused by friction of the thrust wire. This is not suitable for bilateral control. Purpose of this research is to reduce of the operational force in force sensor-less bilateral control with the thrust wire without precise modeling, extra sensors, or extra actuators. A force transform that is a transform of estimated reaction force is presented for the thrust wire. Additionally, bilateral control methods with the force transform are proposed. Using the proposed methods, reduction of the operational force is realized. The validity was confirmed by some experiments.

Original languageEnglish
Title of host publication3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings
Pages412-418
Number of pages7
DOIs
Publication statusPublished - 2010 Aug 23
Event3rd International Conference on Human System Interaction, HSI'2010 - Rzeszow, Poland
Duration: 2010 May 132010 May 15

Publication series

Name3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings

Other

Other3rd International Conference on Human System Interaction, HSI'2010
CountryPoland
CityRzeszow
Period10/5/1310/5/15

Keywords

  • Bilateral control
  • Force sensor-less control
  • Operational force
  • Thrust wire

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Software

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    Sato, T., Sakaino, S., & Ohnishi, K. (2010). Methods for reduction of operational force in force sensor-less bilateral control with thrust wire. In 3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings (pp. 412-418). [5514537] (3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings). https://doi.org/10.1109/HSI.2010.5514537