Abstraction and reproduction of force sensation from real environment by bilateral control

Tomoyuki Shimono, Seiichiro Katsura, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In recent years, skill preservation of an expert has been a serious problem in the medical or production fields. If digital skill preservation like a bilateral database is attained, it may become an innovative solution of the above problem. In this paper, abstraction and reproduction methods of force sensation from the real environment by bilateral control, and reconstruction method of the real environment are proposed. In the abstraction mode, a master-slave system is composed and the law of action and reaction is attained by bilateral control. We succeeded in realization of a vivid sensation of touch for bilateral robot system. Force and position information of both of master and slave systems is calculated and obtained, being based on acceleration information. In the reconstruction mode, an environment model is reconstructed from the obtained data of the real environment. In the reproduction mode, only the master system is prepared. Human operates the master system and feels force sensation from the environmental model which is reconstructed in the reconstruction mode. As a result, the proposed system is able to store the real environment as a bilateral database. The experimental results show the viability of the proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
ページ1521-1526
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベントIEEE International Symposium on Industrial Electronics 2005, ISIE 2005 - Dubrovnik, Croatia
継続期間: 2005 6 202005 6 23

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics
IV

Other

OtherIEEE International Symposium on Industrial Electronics 2005, ISIE 2005
CountryCroatia
CityDubrovnik
Period05/6/2005/6/23

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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