Transmission of tactile roughness through master-slave systems

Shogo Okamoto, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

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

5 Citations (Scopus)

Abstract

In this study, a tactile-roughness transmission system applicable to master-slave systems with a communication time delay is developed. The master-side system constructs a local model of target objects placed in the slave-side environment. Tactile feedbacks presented to an operator at the master side are produced by combining the physical properties of target objects in the local model and the kinetic information of the operator. The time delay between the operator's motion and the tactile feedback is cancelled because the stimuli are synchronized with the exploratory motions. The proposed system is applied to the transmission of tactileroughness. The tactile stimuli presented to the operator are vibratory stimuli whose amplitude and frequency are controlled. These stimuli are locally synthesized by combining the surface wavelength of target objects and the operator's hand velocity. Using the developed tactile-roughness transmission system, an experiment for transmitting the perceived roughness of grating scales was conducted. As a result, the roughness perceived by the operators was found to highly correlate with the roughness of the scales in the slave-side environment with a coefficient of 0.83.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1467-1472
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 2009 May 122009 May 17

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period09/5/1209/5/17

Fingerprint

Surface roughness
Time delay
Feedback
Physical properties
Wavelength
Kinetics
Communication
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Okamoto, S., Konyo, M., Maeno, T., & Tadokoro, S. (2009). Transmission of tactile roughness through master-slave systems. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1467-1472). [5152415] https://doi.org/10.1109/ROBOT.2009.5152415

Transmission of tactile roughness through master-slave systems. / Okamoto, Shogo; Konyo, Masashi; Maeno, Takashi; Tadokoro, Satoshi.

Proceedings - IEEE International Conference on Robotics and Automation. 2009. p. 1467-1472 5152415.

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

Okamoto, S, Konyo, M, Maeno, T & Tadokoro, S 2009, Transmission of tactile roughness through master-slave systems. in Proceedings - IEEE International Conference on Robotics and Automation., 5152415, pp. 1467-1472, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 09/5/12. https://doi.org/10.1109/ROBOT.2009.5152415
Okamoto S, Konyo M, Maeno T, Tadokoro S. Transmission of tactile roughness through master-slave systems. In Proceedings - IEEE International Conference on Robotics and Automation. 2009. p. 1467-1472. 5152415 https://doi.org/10.1109/ROBOT.2009.5152415
Okamoto, Shogo ; Konyo, Masashi ; Maeno, Takashi ; Tadokoro, Satoshi. / Transmission of tactile roughness through master-slave systems. Proceedings - IEEE International Conference on Robotics and Automation. 2009. pp. 1467-1472
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