The control scheme of underactuated master system in bilateral control for operation of fragile environment

Daisuke Tomizuka, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that the Voice Coil Motor (the VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. In addition, bilateral control between different degrees-of-freedom system is inspected to acquire clearer tactile sensation than same degrees-of-freedom system. Moreover, the stiffness of the fragile environment is measured because the property of the environment is acquired. Finally, the validity of these methods are verified through experiments.

本文言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4382-4387
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータスPublished - 2016 1月 25
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11月 92015 11月 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
国/地域Japan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 産業および生産工学

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