TY - GEN
T1 - A realization of haptic training system based on force control
AU - Ohnishi, Yoshihiro
AU - Katsura, Seiichiro
PY - 2013/7/1
Y1 - 2013/7/1
N2 - Haptic information has been attracting the attention in many fields such as multimedia, industry, medicine. This information is effective for not only communication and surgery but also training of some techniques. Recently, a decrease of craftsmen is becoming great issue in some countries. Thus, importing advanced techniques to next generation is very important. Conventional haptic training system is based on position control. It is not enough because trainer touch trainee directory in real training. Because the stiffness of position control is very large, it is difficult to import advanced technique. Thus, in this research, haptic training system based on force control is proposed. This method is based on bilateral control similar to conventional method. However, assist force is generated by force control. By applying assist force according to force control, training system can touch human compliantly. It is effective for importing of skill. The viability of proposed method is confirmed by motion search experiment.
AB - Haptic information has been attracting the attention in many fields such as multimedia, industry, medicine. This information is effective for not only communication and surgery but also training of some techniques. Recently, a decrease of craftsmen is becoming great issue in some countries. Thus, importing advanced techniques to next generation is very important. Conventional haptic training system is based on position control. It is not enough because trainer touch trainee directory in real training. Because the stiffness of position control is very large, it is difficult to import advanced technique. Thus, in this research, haptic training system based on force control is proposed. This method is based on bilateral control similar to conventional method. However, assist force is generated by force control. By applying assist force according to force control, training system can touch human compliantly. It is effective for importing of skill. The viability of proposed method is confirmed by motion search experiment.
UR - http://www.scopus.com/inward/record.url?scp=84879368030&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84879368030&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2013.6518589
DO - 10.1109/ICMECH.2013.6518589
M3 - Conference contribution
AN - SCOPUS:84879368030
SN - 9781467313889
T3 - 2013 IEEE International Conference on Mechatronics, ICM 2013
SP - 510
EP - 515
BT - 2013 IEEE International Conference on Mechatronics, ICM 2013
T2 - 2013 IEEE International Conference on Mechatronics, ICM 2013
Y2 - 27 February 2013 through 1 March 2013
ER -
