Transmission of force sensation by micro-macro bilateral control with scaling of control gains

Shigeru Susa, Tomoyuki Shimono, Takayoshi Takei, Kouji Atsuta, Naoki Shimojima, Soji Ozawa, Yasuhide Morikawa, Kouhei Ohnishi

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

30 Citations (Scopus)

Abstract

A micro-macro bilateral system consists of master and slave system of different sizes. Thus, it is vital for the micromacro bilateral control to use appropriate scaling factors of position and force responses, And the appropriate control gains should be used according to the scaling gains. The proposed method is designed based on ideal reproducibility and ideal operationality of micro-macro bilateral control system. By deriving the control system to satisfy the ideal reproducibility, scaling factors of control gains are obtained. In this paper, the frequency analysis results of hybrid parameters are shown to verify the validity of the proposed method. And the proposed method is applied to the experimental micro-macro bilateral system and the results of the experimentation with real biological environments is shown. Moreover, the impedances of the contacted objects are estimated and compared.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages532-537
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

Fingerprint

Gain control
Macros
Scaling Factor
Reproducibility
Scaling
Control System
Control systems
Frequency Analysis
Experimentation
Impedance
Verify

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Susa, S., Shimono, T., Takei, T., Atsuta, K., Shimojima, N., Ozawa, S., ... Ohnishi, K. (2008). Transmission of force sensation by micro-macro bilateral control with scaling of control gains. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 532-537). [4516123] https://doi.org/10.1109/AMC.2008.4516123

Transmission of force sensation by micro-macro bilateral control with scaling of control gains. / Susa, Shigeru; Shimono, Tomoyuki; Takei, Takayoshi; Atsuta, Kouji; Shimojima, Naoki; Ozawa, Soji; Morikawa, Yasuhide; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 532-537 4516123.

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

Susa, S, Shimono, T, Takei, T, Atsuta, K, Shimojima, N, Ozawa, S, Morikawa, Y & Ohnishi, K 2008, Transmission of force sensation by micro-macro bilateral control with scaling of control gains. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516123, pp. 532-537, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516123
Susa S, Shimono T, Takei T, Atsuta K, Shimojima N, Ozawa S et al. Transmission of force sensation by micro-macro bilateral control with scaling of control gains. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 532-537. 4516123 https://doi.org/10.1109/AMC.2008.4516123
Susa, Shigeru ; Shimono, Tomoyuki ; Takei, Takayoshi ; Atsuta, Kouji ; Shimojima, Naoki ; Ozawa, Soji ; Morikawa, Yasuhide ; Ohnishi, Kouhei. / Transmission of force sensation by micro-macro bilateral control with scaling of control gains. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 532-537
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