The objective of this study is reproduction of physical human actions. The information concerning the human actions are extracted by bilateral teleoperation systems using wearable tendon-driven robots. In the bilateral teleoperation systems, modal transformation is applied to achieve three control goals: position tracking, force feedback, and tension control. The extracted information is provided to the slave robot. To attain the reproduction, a force control scheme is employed. The utility of the proposed method is experimentally verified by applying to a removal operation of a nut.
|Title of host publication
|2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2014 Jan 1
|2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 14 → 2014 Mar 16
|International Workshop on Advanced Motion Control, AMC
|2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
|14/3/14 → 14/3/16
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering