TY - GEN
T1 - Reproduction of real world force sensation by micro-macro bilateral control with respect to standardized modal space
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2007
Y1 - 2007
N2 - Future robots should support the human activities physically. The physical support must be based on the individual's sensation and action. Then, real world haptics will be a key technology for the realization of human support based on the individual's sensation and action. Additionally, the preservation and reproduction of real world haptic information has been required for the purpose, since it may achieve the preservation of the individual's sensation and action. This paper proposes micro-macro bilateral control with respect to standardized modal space, in order to realize the physical support for the microscopical activities. In micro-macro bilateral control, the standard of the macro master system must be harmonized with the standard of the micro slave system. Then, in this paper, the standardization between macro master system and micro slave system is attained in the standardized modal space. Later, the reproduction method of real world force sensation by micro-macro bilateral control based on haptic storage is proposed to achieve the fundamental technology of the preservation of the individual's sensation and the microscopical action. Finally, the experimental results are shown to verify the viability of the proposed methods.
AB - Future robots should support the human activities physically. The physical support must be based on the individual's sensation and action. Then, real world haptics will be a key technology for the realization of human support based on the individual's sensation and action. Additionally, the preservation and reproduction of real world haptic information has been required for the purpose, since it may achieve the preservation of the individual's sensation and action. This paper proposes micro-macro bilateral control with respect to standardized modal space, in order to realize the physical support for the microscopical activities. In micro-macro bilateral control, the standard of the macro master system must be harmonized with the standard of the micro slave system. Then, in this paper, the standardization between macro master system and micro slave system is attained in the standardized modal space. Later, the reproduction method of real world force sensation by micro-macro bilateral control based on haptic storage is proposed to achieve the fundamental technology of the preservation of the individual's sensation and the microscopical action. Finally, the experimental results are shown to verify the viability of the proposed methods.
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U2 - 10.1109/IECON.2007.4460092
DO - 10.1109/IECON.2007.4460092
M3 - Conference contribution
AN - SCOPUS:49949111448
SN - 1424407834
SN - 9781424407835
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 374
EP - 379
BT - Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
T2 - 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Y2 - 5 November 2007 through 8 November 2007
ER -