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

Daisuke Tomizuka; Kouhei Ohnishi

doi:10.1109/IECON.2015.7392781

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

Daisuke Tomizuka, Kouhei Ohnishi

システムデザイン工学科

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	https://doi.org/10.1109/IECON.2015.7392781
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 9 → 2015 11月 12

Other

Other	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
国/地域	Japan
City	Yokohama
Period	15/11/9 → 15/11/12

ASJC Scopus subject areas

電子工学および電気工学
産業および生産工学

文献へのアクセス

10.1109/IECON.2015.7392781

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引用スタイル

Tomizuka, D & Ohnishi, K 2016, The control scheme of underactuated master system in bilateral control for operation of fragile environment. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392781, Institute of Electrical and Electronics Engineers Inc., pp. 4382-4387, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392781

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

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