Fast Estimation of Environment's Stiffness for Bilateral Control Systems with Communication Delay

Yashiro, Daisuke; Yubai, Kazuhiro; Komada, Satoshi

doi:10.1541/ieejjia.5.422

Cited by 6 publications

(4 citation statements)

References 13 publications

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“…In addition, forces applied to the slave are feed back to the master. Therefore, the master feels as if it is in the slave's location [19] [20]. There are several types of bilateral control; however, in this paper, we used position-symmetrical bilateral control because the control system for this method is simple and stable and does not require a force sensor.…”

Section: B Stimulation Waveformmentioning

confidence: 99%

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Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation

Hasegawa

Kitamura

Sakaino

et al. 2018

IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

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Bilateral control, a remote-control technique, is used to work at a distance. However, many existing bilateral control systems have two common problems: 1) it is difficult to create a system like a human hand, that has multiple degrees of freedom and 2) if the mechanism becomes too complicated, operators feel restrained and experience discomfort. Because, for these reasons, the bilateral control of fingers has not been accomplished to date, we aimed to overcome this by applying functional electrical stimulation (FES). In our experiments, through an adhesive electrode pad, electrical stimulation was delivered to the muscles that flex and expand the metacarpophalangeal joints of the thumb and middle finger. Position-symmetrical bilateral control was implemented so that the deviation of the master's and slave's positions relative to each other was zero degrees. A sliding mode controller was used as a position controller. We found it possible to control multiple degrees of freedom; however, we found areas where the number of tracking errors was large. We speculated that the middle finger did not bend, because the arm rotates as the thumb was abduction, therefore the position of the motor point of the middle finger deviates from the position of the pad.

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Section: B Stimulation Waveformmentioning

confidence: 99%

“…Figs. [14][15][16][17][18][19] are free motion data. In addition, contact motion with subject A as the master and subject B as the slave grabbing a cylinder with a diameter of 5 cm is shown in Fig.…”

Section: B Bilateral Control Of Middle Finger Using Fesmentioning

confidence: 99%

Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation

Hasegawa

Kitamura

Sakaino

et al. 2018

IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

View full text Add to dashboard Cite

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“…However, the delay resulting from the time taken for stiffness estimation degrades control performance. Reference (14) designed another stiffness estimator that utilized a polynomial interpolation. Reference (15) applied an acceleration-based impedance control to estimate stiffness.…”

Section: Introductionmentioning

confidence: 99%

Design of Adaptive Controller using Object Position for Bilateral Control System with Communication Delay

2020

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Communication delays between the master robot and slave robot could destabilize a bilateral control system. Recent researches have shown that an adaptive controller that dynamically determines the controller gain of the master depending on the stiffness of the contact object is effective in improving stability. However, the resulting delay in estimating the stiffness of the object degrades the performance and stability of the control system. This paper therefore proposes a novel adaptive controller that utilizes the position of the contact object. The validity of the proposed controller is demonstrated through frequency domain analysis as well as simulation and experimental results. These results indicate that the proposed controller suppresses overshoot, because the proposed controller changes the controller gain before the slave robot comes into contact with an object. In addition, the control system works well if the contact object moves during a contact motion.

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“…In addition, we proposed bilateral control based on FES [8] [9] [10] [11]. Bilateral control is a master slave system [12] [13] [14]. In bilateral control, the slave is controlled by FES to follow the movement of the master.…”

Section: Introductionmentioning

confidence: 99%

Estimation of Relationship Between Stimulation Current and Force Exerted During Isometric Contraction

Kitamura

Hasegawa

Sakaino

et al. 2018

IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

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In this study, we developed a method to estimate the relationship between stimulation current and volatility during isometric contraction. In functional electrical stimulation (FES), joints are driven by applying voltage to muscles. This technology has been used for a long time in the field of rehabilitation, and recently application oriented research has been reported. However, estimation of the relationship between stimulus value and exercise capacity has not been discussed to a great extent. Therefore, in this study, a human muscle model was estimated using the transfer function estimation method with fast Fourier transform. It was found that the relationship between stimulation current and force exerted could be expressed by a first-order lag system. In verification of the force estimate, the ability of the proposed model to estimate the exerted force under steady state response was found to be good.

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Fast Estimation of Environment's Stiffness for Bilateral Control Systems with Communication Delay

Cited by 6 publications

References 13 publications

Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation

Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation

Design of Adaptive Controller using Object Position for Bilateral Control System with Communication Delay

Estimation of Relationship Between Stimulation Current and Force Exerted During Isometric Contraction

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