Reproduction of real world force sensation by micro-macro bilateral control with respect to standardized modal space

Tomoyuki Shimono, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Pages374-379
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
Duration: 2007 Nov 52007 Nov 8

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
CountryTaiwan, Province of China
CityTaipei
Period07/11/507/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Shimono, T., & Ohnishi, K. (2007). Reproduction of real world force sensation by micro-macro bilateral control with respect to standardized modal space. In Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON (pp. 374-379). [4460092] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2007.4460092