An experimental validation of electro-hydraulic transmission for haptic teleoperation-Comparison with thrust wire -

Francis Bechet, Kouhei Ohnishi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

This paper proposes an experimental validation of electro-hydraulic transmission for haptic teleoperation. Haptic teleoperation is an emerging technology that is designed to transmit position and force sensations of a distant environment to the human hand. Heretofore, it has been considered in several applications such as plant reparation, space exploration or laparoscopic surgery. So far, flexible actuator using thrust wire is one of the most efficient way of transmitting haptic sensations. However, compensations of friction and backlash caused by deflection and shape changes of wire remain veritable issues. In this paper, we propose to connect two syringes through a hydraulic tube in order to achieve position tracking and force transmission between an electromagnetic motor and a remotely located end-effector. By that mean, flexibility of thrust wire is replaced by the flexibility of hydraulic tube, mechanical friction is replaced by viscous friction, and backlash is avoided by incompressibility of fluid. The validity of the proposal is verified experimentally.

本文言語English
ホスト出版物のタイトルProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1174-1179
ページ数6
ISBN(印刷版)9781479923991
DOI
出版ステータスPublished - 2014 1 1
イベント2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
継続期間: 2014 6 12014 6 4

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
国/地域Turkey
CityIstanbul
Period14/6/114/6/4

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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