Synchronization performance improvement on motion canceling bilateral control using an extended dual sampling rate observer

Yu Nakajima, Takahiro Nozaki, Kouhei Ohnishi

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

Abstract

Motion canceling bilateral control (MCBC) is a method to synchronize motion of a teleoperation robot and a target, while an operator can obtain tactile sensation of the remote target. This interface helps the operator by taking a task and reduces his/her workload. However, the delay caused by the sensors deteriorates the synchronization performance and transparency of the MCBC. Therefore, synchronization performance improving method for MCBC utilizing an extended dual sampling rate observer (EDSR observer) is proposed in this research. The target motion is modeled as a motion with constant acceleration and the EDSR observer is utilized to estimate the present position of the target. The experimental results indicated that the synchronization performance was improved by 12.2 % in maximum error ratio and 14.8 % in root mean square error ratio. The experimental results indicate an improvement of the target operationality, which suggests the clear tactile sense transmission was achieved.

Original languageEnglish
Title of host publicationProceedings - 5th International Conference on Human System Interactions, HSI 2012
Pages160-167
Number of pages8
DOIs
Publication statusPublished - 2012 Dec 1
Event5th International Conference on Human System Interactions, HSI 2012 - Perth, WA, Australia
Duration: 2012 Jun 62012 Jun 8

Publication series

NameInternational Conference on Human System Interaction, HSI
ISSN (Print)2158-2246
ISSN (Electronic)2158-2254

Other

Other5th International Conference on Human System Interactions, HSI 2012
CountryAustralia
CityPerth, WA
Period12/6/612/6/8

Keywords

  • bilateral control
  • dual sampling rate observer
  • intersample
  • motion canceling
  • teleoperation
  • visual servoing

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Software

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