Impedance Field-Based Teleoperation With Data Holders for Reducing Data Traffic in Haptic Transmission and Its Analysis of Performance and Stability

Hangai, Satoshi; Nozaki, Tsutomu

doi:10.1109/access.2020.3047853

Cited by 2 publications

(2 citation statements)

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“…In addition, the position/force hybrid-control-type bilateral control system can realize stable and highly transparent bilateral control; however, it requires four transmission channels between the master and slave systems to transmit position and force information. To reduce data traffic, two-channel bilateral control based on the impedance-field expression of the four-channel bilateral control has been proposed [30], [31]; however, its performance and stability are considered to be equivalent to those of the original four-channel system. A bilateral controller using a transfer-function-based approach was proposed as another two-channel bilateral controller [32].…”

Section: A Background Of This Studymentioning

confidence: 99%

“…The contributions of this study are summarized below. Contribution 1: Implementation of bilateral control with only force transmission, force control, and HDOB In addition to methods such as position-symmetric type, force-reflecting type [7], force reverse type [9], forceprojection type [37], [38], parallel type [8], and impedancecontrol type [9] even the latest bilateral control systems based on four-channel control systems [19], [31], [33], [39], include position control and/or position information transmission channels in the conventional bilateral control systems. Thus, there is a fixed notion in conventional bilateral control design strategies that position control must be used for position synchronization to achieve high performance of bilateral control.…”

Section: Contributions Of This Studymentioning

confidence: 99%

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Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Nagatsu

2024

IEEE Access

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In a bilateral control system, reducing the information-transmission channel between the master and slave systems has advantages, such as suppressing data traffic, reducing stored data, and simplifying the control-system design. The position/force hybrid-control-type bilateral control system can realize stable and highly transparent bilateral control; however, it requires four transmission channels between the master and slave systems to transmit position and force information. Several types of conventional two-channel controllers are difficult to contact and operate. A two-channel controller with equivalent performance to the four-channel controller exists, but it still requires local position control loops. Therefore, this study proposes a force-symmetric type two-channel bilateral control system based on force control systems with robust acceleration controllers using second-order disturbance observers (DOBs) among higher-order DOBs. Bilateral control systems have two control goals: synchronization of the position of the master-slave system, which is a position-related control goal, and artificial realization of the law of action-reaction between the master-slave system, which is a force-related control goal. Methods using low-order DOBs, such as zeroand first-order DOBs, cannot achieve the position-related control goal. In contrast, the proposed method can achieve both position and force control goals simultaneously, even though it only has force transmission channels and control loops. This study also shows that the performance of the proposed two-channel bilateral control system is equivalent to that of a four-channel bilateral control system that transmits both position and force information. The effectiveness of the proposed method was confirmed through bilateral-control experiments in the joint space and workspace.

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Section: A Background Of This Studymentioning

confidence: 99%

Section: Contributions Of This Studymentioning

confidence: 99%

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Nagatsu

2024

IEEE Access

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Tactile IoT and 5G & beyond schemes as key enabling technologies for the future metaverse

Tychola,

Voulgaridis,

Lagkas

2023

Telecommun Syst

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The Tactile Internet (TI) is a recently emerging field that has been developing and evolving to date, since its communications parallel the sense of human touch. Lately, the revolutionized concept, Metaverse, draws attention due to the evolved immersive experience of human perception of the surrounding environment. This technology supports the ultimate union between the physical and virtual world, facilitated by 5G and beyond communication networks. Users are capable of interacting with machines and devices in real-time, remotely, resembling the actions of their physical counterparts. The particular approaches are still in their infancy and expected to produce spectacular results in various sectors such as industry, healthcare, autonomous vehicles, etc. This immersion is further assisted by the Internet of Things, while expecting full wireless support by 5G networks. In this article, a systematic review studies the domains of TI, 5G and beyond networks, as well as their relations with the Metaverse, rendering the respective schemes Key Enabling Technologies for the future Metaverse. A thorough analysis is conducted on the underpinning schemes, relative architectures, structures, and operation modes. In addition, a comprehensive list is presented, focusing on related application fields and their benefits, considering the strengths and weaknesses of the involved technologies. Finally, challenges and issues arising are discussed, both from the perspective of technical requirements and the psychosomatic aspect of human experience.

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Impedance Field-Based Teleoperation With Data Holders for Reducing Data Traffic in Haptic Transmission and Its Analysis of Performance and Stability

Cited by 2 publications

References 30 publications

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Tactile IoT and 5G & beyond schemes as key enabling technologies for the future metaverse

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