Teleoperation with soft sensation based on transformer and gyrator theorems

Abdul Muis, Kouhei Ohnishi

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

9 Citations (Scopus)

Abstract

Ideally, a bilateral teleoperation would be completely transparent, so the operators feel that they are directly interacting with the remote task [1]. However, the delay presence in interconnection between both systems, degrade system performance. There have been two major approaches to this problem. The one who concerns on interaction safety and stability, considers teleoperation as a passive system. The rest considers delay manipulation to attain robust performance with limited stability. Obviously, bilateral system is a two-port system just like transformer and gyrator in electrical circuit. There has been tremendous effort to apply gyration for stabilization [2]. However, this paper in different way proposes bilateral teleoperation based on combination of transformer and gyrator analogies. Although with less transparency, this method provides soft sensation on delayed teleoperation. The validity of this method is confirmed through experimental results.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages346-351
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

Fingerprint

Gyrators
Remote control
Transparency
Stabilization
Networks (circuits)

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Software
  • Industrial and Manufacturing Engineering

Cite this

Muis, A., & Ohnishi, K. (2006). Teleoperation with soft sensation based on transformer and gyrator theorems. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 346-351). [4237693] https://doi.org/10.1109/ICIT.2006.372371

Teleoperation with soft sensation based on transformer and gyrator theorems. / Muis, Abdul; Ohnishi, Kouhei.

Proceedings of the IEEE International Conference on Industrial Technology. 2006. p. 346-351 4237693.

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

Muis, A & Ohnishi, K 2006, Teleoperation with soft sensation based on transformer and gyrator theorems. in Proceedings of the IEEE International Conference on Industrial Technology., 4237693, pp. 346-351, 2006 IEEE International Conference on Industrial Technology, ICIT, Mumbai, India, 06/12/15. https://doi.org/10.1109/ICIT.2006.372371
Muis A, Ohnishi K. Teleoperation with soft sensation based on transformer and gyrator theorems. In Proceedings of the IEEE International Conference on Industrial Technology. 2006. p. 346-351. 4237693 https://doi.org/10.1109/ICIT.2006.372371
Muis, Abdul ; Ohnishi, Kouhei. / Teleoperation with soft sensation based on transformer and gyrator theorems. Proceedings of the IEEE International Conference on Industrial Technology. 2006. pp. 346-351
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