Multilateral control-based motion copying system for haptic training

Dogancan Kebude, Hidetaka Morimitsu, Seiichiro Katsura, Asif Sabanovic

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

2 Citations (Scopus)

Abstract

This paper proposes a new motion-loading method that utilizes a multilateral control-based scheme for the motion-copying system. The motion-copying system refers to human operator's motion, tracks and preserves it only for being able to reproduce the same result of the motion. Conventionally, only slave system was used for motion-loading phase. The method proposed in this paper offers a way to enable more than one slave side actuator at the phase. With the proposed system, the operator at loading phase can grab the master system which the manipulator was holding at the saving phase. The performance analyses of proposed system are made with the bode plots, and the experiments are held with two degrees-of-freedom actuators. The newly proposed haptic informational reproduction technique can be applied in many areas, especially as the training purposes.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2250-2255
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14/6/114/6/4

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Kebude, D., Morimitsu, H., Katsura, S., & Sabanovic, A. (2014). Multilateral control-based motion copying system for haptic training. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 2250-2255). [6864968] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864968