Spatiotemporal Coupler: Storage and Reproduction of Human Finger Motions

Tsunashima, Noboru; Katsura, Seiichiro

doi:10.1109/tie.2011.2161247

Cited by 49 publications

(19 citation statements)

References 27 publications

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“…Of course, other controllers can be implemented to the system. Such controller selection is discussed in the previous works (11)- (14) . Finally, the acceleration references of the master and slave systems are calculated through the inverse Hadamard matrix as…”

Section: Structure For Same Motion Areasmentioning

confidence: 99%

“…There are various approaches to realize haptic transmission between these two systems. Particularly, a bilateral control based on acceleration control attains vivid haptic transmission (11)- (14) . By using these methods, operators can feel the reaction force as if they are touching a real environment; that is, the operator s haptic senses are transmitted to a remote location without their actual physical transfer.…”

Section: Introductionmentioning

confidence: 99%

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Mode Switching Bilateral Control for Master-Slave Systems with Different Motion Areas

et al. 2013

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This paper proposes a mode switching bilateral control for the extension of motion areas. Conventionally, a bilateral control with a dynamical matrix has been used to achieve haptic transmission with different motion ranges between the master and slave systems. However, this approach still does not allow operators to enhance operability, especially when the slave system is in contact with environment. Taking the contact motion in the bilateral control into consideration, a basic bilateral control with an Hadamard matrix for the same motion areas is suitable for immediate and fine haptic transmission. To solve the contact motion problem, the proposed control structure switches the dynamical and the Hadamard matrices between free and contact motion. The characteristic of the proposed method is that the structure of the disturbance observer is applied to the modal space in order to solve the initial-value problem. With this method, smooth switching of the modal transformation matrix is achieved in both soft and hard environments. As a result, the operability of the different motion areas will be enhanced.

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Section: Structure For Same Motion Areasmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mode Switching Bilateral Control for Master-Slave Systems with Different Motion Areas

et al. 2013

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“…Motion-copying systems based on real-world haptics have been extensively developed for applications in human assistance systems, industrial robots, training systems, and surgical robots (1)- (3) . The motion-copying system based on bilateral control consists of a motion-saving system and a motion-loading system that mimics the motion of an expert or human operator based on the preserved information about its position and force (4) .…”

Section: Introductionmentioning

confidence: 99%

“…nagaokaut.ac.jp * Department of Electrical Engineering, Nagaoka University of Technology 1603-1, Kamitomioka, Nagaoka, Niigata 940-2188, Japan has been well studied in many works (1)- (4) , considerations on improving the control performance while the actuators exhibit high friction have not been taken into account in most of the cases. For the above reason, in our paper, we propose a motion-copying system using friction-free disturbance observer (DOB) to improve the control performance even when the effect of friction on the slave side is serious.…”

Section: Introductionmentioning

confidence: 99%

Motion-Copying System Using FPGA-based Friction-Free Disturbance Observer

2014

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A motion-copying system is characterized by its ability to preserve and reproduce the motions of a human operator. The performance of a motion-copying system based on bilateral control is affected by friction and harmonic disturbances. To improve the performance of this system, we propose a friction-free disturbance observer with a dither signal for both motion-saving and motion-loading systems. The dither signal reduces the effect of friction, while the friction-free disturbance observer suppresses oscillatory disturbances in force estimation. Moreover, the friction-free disturbance observer achieves effective harmonic disturbance suppression in force estimation. All control algorithms are implemented in a field-programmable gate array to achieve a short sampling period that reduces the controller execution time and enables a wider force-sensing bandwidth. The effectiveness of the proposed method is verified by experimental results.

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“…By using this method, therefore, it is difficult to store and reproduce the motion which contains the contact motion with an unknown environment. In response to this reason, a motioncopying system was proposed (4) (5) . The motion-copying system is based on the bilateral control.…”

Section: Introductionmentioning

confidence: 99%

Controller Design for Reproduction of Grasping/Manipulation Motion of Grasping Objects with Different Diameters

2013

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This paper proposes a controller design method for the reproduction of multi-degree-of-freedom (DOF) motion. For the storage and reproduction of haptic information, a motion-copying system was proposed. In the conventional method, however, it is difficult to reproduce the saved motion when the environmental configuration in the motionloading phase is different from that in the motion-saving phase. This problem can be solved by the proposed method. The proposed design procedures are divided into two steps. First, a control structure with a different environmental configuration is proposed, and it is shown that the difference in the environmental configuration influences the reproduction of force information. Second, a novel controller that is based on the abovementioned analysis is proposed. By using the proposal, we can reproduce the saved motion even though the environmental configuration is changed. In this study, the grasping/manipulation motion is considered to be a multi-DOF motion, and the validity of the proposal is confirmed via experiments.

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Spatiotemporal Coupler: Storage and Reproduction of Human Finger Motions

Cited by 49 publications

References 27 publications

Mode Switching Bilateral Control for Master-Slave Systems with Different Motion Areas

Mode Switching Bilateral Control for Master-Slave Systems with Different Motion Areas

Motion-Copying System Using FPGA-based Friction-Free Disturbance Observer

Controller Design for Reproduction of Grasping/Manipulation Motion of Grasping Objects with Different Diameters

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