Functionalization of tactile sensation for robot based on haptograph and modal decomposition

Yuki Yokokura, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


In the real world, robots should be able to recognize the environment in order to be of help to humans. A video camera and a laser range finder are devices that can help robots recognize the environment. However, these devices cannot obtain tactile information from environments. Future human-assisting- robots should have the ability to recognize haptic signals, and a disturbance observer can possibly be used to provide the robot with this ability. In this study, a disturbance observer is employed in a mobile robot to functionalize the tactile sensation. This paper proposes a method that involves the use of haptograph and modal decomposition for the haptic recognition of road environments. The haptograph presents a graphic view of the tactile information. It is possible to classify road conditions intuitively. The robot controller is designed by considering the decoupled modal coordinate system, which consists of translational and rotational modes. Modal decomposition is performed by using a quarry matrix. Once the robot is provided with the ability to recognize tactile sensations, its usefulness to humans will increase.

Original languageEnglish
Pages (from-to)136-143+4
Journalieej transactions on industry applications
Issue number2
Publication statusPublished - 2009


  • Disturbance observer
  • Haptograph
  • Modal decomposition
  • Motion control
  • Real-world haptics
  • Short-time fourier transform

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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