The control scheme of underactuated master system in bilateral control for operation of fragile environment

Daisuke Tomizuka, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that the Voice Coil Motor (the VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. In addition, bilateral control between different degrees-of-freedom system is inspected to acquire clearer tactile sensation than same degrees-of-freedom system. Moreover, the stiffness of the fragile environment is measured because the property of the environment is acquired. Finally, the validity of these methods are verified through experiments.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4382-4387
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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    Tomizuka, D., & Ohnishi, K. (2016). The control scheme of underactuated master system in bilateral control for operation of fragile environment. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4382-4387). [7392781] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392781