Realization of emphasis and restriction on specific element of human motion by bilateral modal control with variable transmission ratio

Tomoyuki Shimono, Kouhei Ohnishi

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

Abstract

This paper proposes the variable transmission ratio for the bilateral control based on modal decomposition. The bilateral control with modal decomposition is designed on the basis of each independent element of the human motion and/or the spatial information of the real environment. In this paper, the motion of the master-slave system with two degrees of freedom is decomposed into the manipulation mode and the grasping mode. These modes are theoretically independent each other. Then, the proposed variable transmission ratio makes it possible to emphasize and/or restrict the transmission of the specific mode. As a result, the proposed method realizes the emphasis and restriction on specific element of the human motion. Finally, the experimental results are shown to verify the validity of the proposed method.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PublisherIEEE Computer Society
Pages2580-2585
Number of pages6
ISBN (Print)9781424417667
DOIs
Publication statusPublished - 2008 Jan 1

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Shimono, T., & Ohnishi, K. (2008). Realization of emphasis and restriction on specific element of human motion by bilateral modal control with variable transmission ratio. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 2580-2585). [4758363] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2008.4758363