Methods for reduction of operational force in force sensor-less bilateral control with thrust wire

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

Force sensor-less bilateral control with thrust wire can realize low-cost bilateral applications and is very useful. However, there is a problem. Since modeling of the thrust wire is very difficult, there is disturbance from modeling error of the thrust wire. Thus, an operator feels heavy operational force caused by friction of the thrust wire. This is not suitable for bilateral control. Purpose of this research is to reduce of the operational force in force sensor-less bilateral control with the thrust wire without precise modeling, extra sensors, or extra actuators. A force transform that is a transform of estimated reaction force is presented for the thrust wire. Additionally, bilateral control methods with the force transform are proposed. Using the proposed methods, reduction of the operational force is realized. The validity was confirmed by some experiments.

本文言語English
ホスト出版物のタイトル3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings
ページ412-418
ページ数7
DOI
出版ステータスPublished - 2010 8月 23
イベント3rd International Conference on Human System Interaction, HSI'2010 - Rzeszow, Poland
継続期間: 2010 5月 132010 5月 15

出版物シリーズ

名前3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings

Other

Other3rd International Conference on Human System Interaction, HSI'2010
国/地域Poland
CityRzeszow
Period10/5/1310/5/15

ASJC Scopus subject areas

  • 人間とコンピュータの相互作用
  • ソフトウェア

フィンガープリント

「Methods for reduction of operational force in force sensor-less bilateral control with thrust wire」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル