Real-time remote transmission of multiple tactile properties through master-slave robot system

Takahiro Yamauchi, Shogo Okamoto, Masashi Konyo, Yusuke Hidaka, Takashi Maeno, Satoshi Tadokoro

研究成果: Conference contribution

33 引用 (Scopus)

抜粋

Remote transmission of high quality sense of touch requires the representation of multiple tactile properties and compensation of communication delay. We developed a real-time remote transmission system that can deliver multiple tactile properties using a master-slave robot system. First, we assessed what type of tactile properties should be transmitted and how to connect them in real time. Three tactile properties - roughness, friction, and softness - were transmitted on the basis of the real-time estimated physical properties of three main wavelengths, a kinetic friction coefficient, and spring constants, respectively. Tactile stimulations were generated in synchronization with hand exploration at the master side by using local tactile generation models to compensate for communication time delay. The transmission of multiple tactile properties was achieved by the integration and enhancement of our previously reported methods for vibrotactile displays and tactile sensors. A discrimination experiment using different materials showed the feasibility of the total system involving the three tactile properties.

元の言語English
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ1753-1760
ページ数8
DOI
出版物ステータスPublished - 2010 8 26
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
継続期間: 2010 5 32010 5 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷物)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
United States
Anchorage, AK
期間10/5/310/5/7

    フィンガープリント

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

Yamauchi, T., Okamoto, S., Konyo, M., Hidaka, Y., Maeno, T., & Tadokoro, S. (2010). Real-time remote transmission of multiple tactile properties through master-slave robot system. : 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 1753-1760). [5509926] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509926