Real-time remote transmission of multiple tactile properties through master-slave robot system

Takahiro Yamauchi, Shogo Okamoto, Masashi Konyo, Yusuke Hidaka, Takashi Maeno, Satoshi Tadokoro

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

33 Citations (Scopus)

Abstract

Remote transmission of high quality sense of touch requires the representation of multiple tactile properties and compensation of communication delay. We developed a real-time remote transmission system that can deliver multiple tactile properties using a master-slave robot system. First, we assessed what type of tactile properties should be transmitted and how to connect them in real time. Three tactile properties - roughness, friction, and softness - were transmitted on the basis of the real-time estimated physical properties of three main wavelengths, a kinetic friction coefficient, and spring constants, respectively. Tactile stimulations were generated in synchronization with hand exploration at the master side by using local tactile generation models to compensate for communication time delay. The transmission of multiple tactile properties was achieved by the integration and enhancement of our previously reported methods for vibrotactile displays and tactile sensors. A discrimination experiment using different materials showed the feasibility of the total system involving the three tactile properties.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages1753-1760
Number of pages8
DOIs
Publication statusPublished - 2010 Aug 26
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Yamauchi, T., Okamoto, S., Konyo, M., Hidaka, Y., Maeno, T., & Tadokoro, S. (2010). Real-time remote transmission of multiple tactile properties through master-slave robot system. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 1753-1760). [5509926] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509926