Reproduction of haptic data in grasping and manipulating operations

Ayaka Matsui, Seiichiro Katsura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Recently, a field requiring advanced techniques demands a new education system designed to reproduce the haptic sense. The environment-copying system, in which a haptic data is stored and reproduced, has been studied. However, the conventional environment-copying systems reproduce only the haptic sensation on the environmental surface. The haptic sensation is not only changed by the mechanical impedance but also some circumstances, how the condition is and how the operators move the environment. Then, this paper proposes the environment-copying system for the multi degree-of-freedom motion. This paper treats the grasping/manipulation motion as multi DOF motion. In the grasping mode, the mechanical impedance of the environment is identified. On the other hand, the frictional force and the fictitious force are identified in the manipulation mode. Loading the identified impedance and force, the operators feel as if they grasp and manipulate the environment. The validity of the proposal is confirmed by experiments.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
ページ2433-2438
ページ数6
DOI
出版ステータスPublished - 2012
イベント38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
継続期間: 2012 10 252012 10 28

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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