2014
DOI: 10.1541/ieejjia.3.227
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Force-Based Compliance Controller Utilizing Visual Information for Motion Navigation in Haptic Bilateral Control System

Abstract: This paper proposes a force-based compliance control method utilizing visual information that can be integrated with a haptic system for motion navigation tasks. The force generated on the basis of useful image information of the tracked object is utilized to provide a response to the bilateral control system. An eye-to-hand approach is used to magnify the information from the vision sensor. The control strategy, image processing method, and integration techniques are elaborated upon in detail. Four experiment… Show more

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Cited by 8 publications
(4 citation statements)
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“…The disturbance observer (DOB) is often termed as the pronoun of motion control technology. Hence, majority of papers related to motion control in IEEJ J. IA are related to DOB .…”
Section: Motion Controlmentioning
confidence: 99%
See 1 more Smart Citation
“…The disturbance observer (DOB) is often termed as the pronoun of motion control technology. Hence, majority of papers related to motion control in IEEJ J. IA are related to DOB .…”
Section: Motion Controlmentioning
confidence: 99%
“…Haptics is expected to be widely useful for interactions between mechatronic sys‐tems and humans ,. As defined in a survey paper , ‘Haptics is a research field that examines information from physical interaction between humans and objects.…”
Section: Motion Controlmentioning
confidence: 99%
“…In order to realize the transmission of the tactile information, the bilateral control using a master-slave system have been researched a lot (5) (6) . There are many methods which investigated recently dealing with the haptic information (7) (8) . One of the methods to realize a human motion using a position information and a force information is called the motion-copying system (9) .…”
Section: Introductionmentioning
confidence: 99%
“…A haptic sensation consists of several elements: kinesthetic sense, surface touch, and thermal sensation. With regard to the first and second elements, electrical actuators and tactile displays can be utilized, and schemes such as bilateral control are implemented [3]- [6]. In research into thermal rendering, a Peltier device is often employed as a thermal device.…”
Section: Introductionmentioning
confidence: 99%