Function estimation of grasping/manipulating motions in scaled bilateral control using principal component analysis

Hiroki Nagashima; Seiichiro Katsura

doi:10.1109/IECON.2012.6389178

Function estimation of grasping/manipulating motions in scaled bilateral control using principal component analysis

Hiroki Nagashima, Seiichiro Katsura

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes an estimation method of functional mode in grasping/manipulation motion in scaled bilateral control system. In the conventional method, however, it is presupposed that functional-mode is predefined. By using proposed method using principal component analysis(PCA), time-variable functional mode of control system and human motion is directly estimated from motion information without considering predefined functional mode. In grasping/manipulation motion in scaled bilateral control, it is possible to estimate the principal functional mode and evaluate the performance of control systems. Validity of the proposal is confirmed by experiments.

Original language	English
Title of host publication	Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Pages	4412-4417
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2012.6389178
Publication status	Published - 2012
Event	38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada Duration: 2012 Oct 25 → 2012 Oct 28

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
Country/Territory	Canada
City	Montreal, QC
Period	12/10/25 → 12/10/28

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2012.6389178

Cite this

Nagashima, H., & Katsura, S. (2012). Function estimation of grasping/manipulating motions in scaled bilateral control using principal component analysis. In Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society (pp. 4412-4417). Article 6389178 (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2012.6389178

Function estimation of grasping/manipulating motions in scaled bilateral control using principal component analysis. / Nagashima, Hiroki; Katsura, Seiichiro.
Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society. 2012. p. 4412-4417 6389178 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nagashima, H & Katsura, S 2012, Function estimation of grasping/manipulating motions in scaled bilateral control using principal component analysis. in Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society., 6389178, IECON Proceedings (Industrial Electronics Conference), pp. 4412-4417, 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012, Montreal, QC, Canada, 12/10/25. https://doi.org/10.1109/IECON.2012.6389178

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Function estimation of grasping/manipulating motions in scaled bilateral control using principal component analysis

Abstract

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