Abstraction and Reproduction of Force Sensation From Real Environment by Bilateral Control

Shimono, Tomoyuki; Katsura, Seiichiro; Ohnishi, Kouhei

doi:10.1109/tie.2007.892744

Cited by 96 publications

(30 citation statements)

References 26 publications

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“…Related to the time delay problem a comprehensive review of the time delay on NCS systems was done, and the advances and the open problems of the time delayed systems were also investigated in [24]. In order to resolve the stability problem of the NCS there have been stability analyses [25][26][27][28][29] and remote stabilization of the NCS has also been tried [30][31][32][33][34][35][36][37][38][39]. Stabilization of the NCS that has unknown time delay using the LMI (Linear Matrix Inequality) technique was suggested in [32].…”

Section: Controller Designmentioning

confidence: 99%

“…Sufficient condition for the stability of Takagi-Sugeno fuzzy models equivalent to nonlinear systems with time delays was investigated, and the design of the shared control of the plural nonlinear systems within one controller was suggested in [33]. In [34][35][36] the communication disturbance observer was used to compensate for the time delay. In [37,38] the difference between the communication disturbance observer and Smith predictor was explained and the stability analysis and design procedure were suggested.…”

Section: Controller Designmentioning

confidence: 99%

See 1 more Smart Citation

Fieldbus based distributed servo control using LonWorks/IP gateway/web servers

Song

Choi

2010

Mechatronics

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Section: Controller Designmentioning

confidence: 99%

Section: Controller Designmentioning

confidence: 99%

Fieldbus based distributed servo control using LonWorks/IP gateway/web servers

Song

Choi

2010

Mechatronics

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“…Therefore, a motion recognition method considering haptic information is required. A research field about transmission, extraction, and preservation of a tactile sense is called haptics [14]. Haptics has been studied extensively in recent years.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Skill Providing System Using Human Haptic Information

Nozaki

Mizoguchi

Nakajima

et al. 2012

2012 5th International Conference on Human System Interactions

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Since the advance of the aging society with a falling birthrate, technical inheritance has been a serious problem. This paper proposes a method to provide a skillful motion. First, haptic data (i.e., position and force information) is acquired using a bilateral control system. Second, the acquired haptic data is divided into action components by using modal transformation. Third, position and force information in each action component are compared with recorded data concerning the skillful motion. Finally, if an operator performs motion similar to skillful motion, the recorded data is loaded to the bilateral control system. Similarity between the performed motion and the skillful motion is calculated based on dynamic programming matching algorithms. The validity of the proposed method was experimentally verified. In the experiments, the proposed method was applied for grasping motion, and the recorded skillful motion was reproduced when the operator tried to perform the skillful motion. The maximum position error was 0.072 cm.

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“…The sensation of haptic communication is widely discussed in the literature [4], [5]. Previous studies have been concerned with the force sensation from the virtual environmental model as if from the real environment [5].…”

Section: Introductionmentioning

confidence: 99%

Stiffness modeling across transition temperatures in virtual environments by B-spline interpolation

Mitsantisuk

Ohishi

Urushihara

et al. 2010

2010 11th IEEE International Workshop on Advanced Motion Control (AMC)

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The development of haptic technology has been a significant trend worldwide. To simulate the virtual environments, several researchers have estimated the parameters of environment in order to interact with human operators. However, the material properties of real environments are greatly influenced by temperature. In this paper, the haptic databased is designed and all of the properties of B-spline curves can be adopted to construct the virtual environments. The order of the curve for the B-spline blending function is set as the natural cubic B-spline. Thus, it is possible to generate a good realization of interaction force and simulate a soft and hard virtual environment according to the material properties. From the experimental results, the proposed mathematical model can be changed the material properties under various condition of temperature.

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Abstraction and Reproduction of Force Sensation From Real Environment by Bilateral Control

Cited by 96 publications

References 26 publications

Fieldbus based distributed servo control using LonWorks/IP gateway/web servers

Fieldbus based distributed servo control using LonWorks/IP gateway/web servers

Real-Time Skill Providing System Using Human Haptic Information

Stiffness modeling across transition temperatures in virtual environments by B-spline interpolation

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