Bilateral force feedback control with different configurations based on dimensional scaling for realization of mobile-hapto

Wataru Yamanouchi, Seiichiro Katsura, Kiyoshi Ohishi

研究成果: Article査読

20 被引用数 (Scopus)

抄録

Recent advances in control technology have contributed to the development of robot systems for communication with humans. Robot systems recognize the environment on the basis of audio-visual information. Recognition methods based on audio-visual feedback have been developed by many researchers. Recently, haptic information has attracted attention as the third type of multimedia information. This paper proposes a force feedback method for systems with different motion areas, named "mobile-hapto". Sense of touch is useful for remote manipulation. The mobile-hapto consists of a mobile robot with an infinite area for motion and a joystick that is fixed at a given position and can be operated manually. To realize of force feedback in the "mobile-hapto", bilateral control with dimensional scaling is proposed. In this case, intuitive manipulation becomes possible when using the "mobile-hapto". The effectiveness of the proposed method is verified by experimental results.

本文言語English
ページ(範囲)180-186+7
ジャーナルieej transactions on industry applications
131
2
DOI
出版ステータスPublished - 2011 9 12

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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