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

31 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 publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages532-537
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

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

ASJC Scopus subject areas

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

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    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 AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 532-537). [4516123] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516123