Transmission of tactile roughness through master-slave systems

Shogo Okamoto, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

In this study, a tactile-roughness transmission system applicable to master-slave systems with a communication time delay is developed. The master-side system constructs a local model of target objects placed in the slave-side environment. Tactile feedbacks presented to an operator at the master side are produced by combining the physical properties of target objects in the local model and the kinetic information of the operator. The time delay between the operator's motion and the tactile feedback is cancelled because the stimuli are synchronized with the exploratory motions. The proposed system is applied to the transmission of tactileroughness. The tactile stimuli presented to the operator are vibratory stimuli whose amplitude and frequency are controlled. These stimuli are locally synthesized by combining the surface wavelength of target objects and the operator's hand velocity. Using the developed tactile-roughness transmission system, an experiment for transmitting the perceived roughness of grating scales was conducted. As a result, the roughness perceived by the operators was found to highly correlate with the roughness of the scales in the slave-side environment with a coefficient of 0.83.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Robotics and Automation, ICRA '09
ページ1467-1472
ページ数6
DOI
出版ステータスPublished - 2009 11 2
イベント2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
継続期間: 2009 5 122009 5 17

出版物シリーズ

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

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
国/地域Japan
CityKobe
Period09/5/1209/5/17

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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