@inproceedings{f2223ca2f95f4b6f97812c171e92f236,
title = "Design of bilateral control based on equivalent circuit model",
abstract = "Haptic teleoperation has been studied as an attractive technology for a long time. Although the haptic teleoperation has been already realized by conventional methods, their physical meanings are remained vague and unclear. This paper explains bilateral control for the haptic teleoperation using an equivalent circuit model. Owing to the circuit model, which takes into account characteristics of electrical actuators, a control strategy and its physical meanings are clearly illustrated. Torque (force) control and position (velocity) control for the haptic teleoperation can be designed independently because of mode decomposition. Feedback controller design for each control is based on analyses of sensitivity derived from the equivalent circuit. The control strategy derived from the equivalent circuit have been confirmed by experiments and resulted in the haptic teleoperation.",
keywords = "Bilateral control, Haptics, Master-slave, Motion transmission, Teleoperation",
author = "Shuhei Akutsu and Takahiro Nozaki and Toshiyuki Murakami",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Industrial Technology, ICIT 2019 ; Conference date: 13-02-2019 Through 15-02-2019",
year = "2019",
month = feb,
doi = "10.1109/ICIT.2019.8755205",
language = "English",
series = "Proceedings of the IEEE International Conference on Industrial Technology",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1351--1356",
booktitle = "Proceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019",
}