Abstract
This paper presents a novel concept of performance index for evaluating the scaled haptic transmission in a micro space. Bilateral control based on acceleration control enables human to acquire and render a tactile sensation. In order to realize the applications of a tactile sensation as well as audio and visual information, editing tactile information will be considered. However, the signal which is measured by a digital sensor is remarkably affected by a high-frequency domain disturbance or quantization error. The purpose of this paper is to expand the previous performance index with the interference of a high-frequency domain disturbance and quantization error. Considering the novel performance index, a modal space filter to extract expectation value is conducted by employing a Kalman filter for avoiding destruction of a micro object. In the experiments, the trade-off between a disturbance matrix and a quantization error matrix is confirmed, and 1000 times scaled haptic transmission that contacts with water fleas is achieved.
Original language | English |
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Title of host publication | IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 3654-3659 |
Number of pages | 6 |
ISBN (Electronic) | 9781479917624 |
DOIs | |
Publication status | Published - 2016 Jan 25 |
Event | 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan Duration: 2015 Nov 9 → 2015 Nov 12 |
Other
Other | 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 |
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Country/Territory | Japan |
City | Yokohama |
Period | 15/11/9 → 15/11/12 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering