Transparency and system connection for heterogeneous haptic network systems

Ryogo Kubo, Naoki Motoi, Kouhei Ohnishi

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

Abstract

This paper describes transparency and system connection for future heterogeneous haptic network systems, e.g. bilateral teleoperation systems which include communication networks with different capacities and haptic devices with different degrees of freedom (DOF). This paper also proposes a controller design method of bilateral control systems in the heterogeneous environment. A one-dimensional master-slave haptic display system is taken as an example in this research. Firstly, haptic information, i.e. the position of each haptic device and the reaction force exerted on each haptic device, is transformed into environmental modes by means of mode transformation. Then the haptic information in the modal space is transmitted between master and slave haptic devices. The controller is designed so as to optimize mode-space transparency. Transparent bilateral control in the modal space is achieved even when the system connection changes, e.g. the capacity of communication network or the DOF of haptic devices changes. The proposed controller design method is validated by experimental results.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages709-714
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

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

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  • Cite this

    Kubo, R., Motoi, N., & Ohnishi, K. (2010). Transparency and system connection for heterogeneous haptic network systems. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 709-714). [5464044] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464044