Haptic broadcasting of grasping operation by multilateral control

Seiichiro Katsura; Kiyoshi Ohishi

doi:10.1109/SICE.2007.4421373

Haptic broadcasting of grasping operation by multilateral control

Seiichiro Katsura, Kiyoshi Ohishi

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

1 Citation (Scopus)

Abstract

Real-world haptics is the key technology for future haptic communication engineering. In this technical point of view, this paper proposes a novel haptic broadcasting of grasping operation by multilateral control. The experimental haptic broadcasting system has two master systems and one slave system. Since each system has two degrees of freedom, it is possible to control the center-of-gravity position and grasping force, respectively. Furthermore, the paper implements the identity ratio in each master to transmit the same environmental impedance to each master. The experimental results show the viability of the proposed method.

Original language	English
Title of host publication	SICE Annual Conference, SICE 2007
Pages	2302-2308
Number of pages	7
DOIs	https://doi.org/10.1109/SICE.2007.4421373
Publication status	Published - 2007
Externally published	Yes
Event	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan Duration: 2007 Sept 17 → 2007 Sept 20

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Country/Territory	Japan
City	Takamatsu
Period	07/9/17 → 07/9/20

Keywords

Acceleration control
Bilateral teleoperation
Haptics
Modal decomposition
Motion control
Multilateral control

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/SICE.2007.4421373

Cite this

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title = "Haptic broadcasting of grasping operation by multilateral control",

abstract = "Real-world haptics is the key technology for future haptic communication engineering. In this technical point of view, this paper proposes a novel haptic broadcasting of grasping operation by multilateral control. The experimental haptic broadcasting system has two master systems and one slave system. Since each system has two degrees of freedom, it is possible to control the center-of-gravity position and grasping force, respectively. Furthermore, the paper implements the identity ratio in each master to transmit the same environmental impedance to each master. The experimental results show the viability of the proposed method.",

keywords = "Acceleration control, Bilateral teleoperation, Haptics, Modal decomposition, Motion control, Multilateral control",

author = "Seiichiro Katsura and Kiyoshi Ohishi",

year = "2007",

doi = "10.1109/SICE.2007.4421373",

language = "English",

isbn = "4907764286",

series = "Proceedings of the SICE Annual Conference",

pages = "2302--2308",

booktitle = "SICE Annual Conference, SICE 2007",

note = "SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 ; Conference date: 17-09-2007 Through 20-09-2007",

}

TY - GEN

T1 - Haptic broadcasting of grasping operation by multilateral control

AU - Katsura, Seiichiro

AU - Ohishi, Kiyoshi

PY - 2007

Y1 - 2007

N2 - Real-world haptics is the key technology for future haptic communication engineering. In this technical point of view, this paper proposes a novel haptic broadcasting of grasping operation by multilateral control. The experimental haptic broadcasting system has two master systems and one slave system. Since each system has two degrees of freedom, it is possible to control the center-of-gravity position and grasping force, respectively. Furthermore, the paper implements the identity ratio in each master to transmit the same environmental impedance to each master. The experimental results show the viability of the proposed method.

AB - Real-world haptics is the key technology for future haptic communication engineering. In this technical point of view, this paper proposes a novel haptic broadcasting of grasping operation by multilateral control. The experimental haptic broadcasting system has two master systems and one slave system. Since each system has two degrees of freedom, it is possible to control the center-of-gravity position and grasping force, respectively. Furthermore, the paper implements the identity ratio in each master to transmit the same environmental impedance to each master. The experimental results show the viability of the proposed method.

KW - Acceleration control

KW - Bilateral teleoperation

KW - Haptics

KW - Modal decomposition

KW - Motion control

KW - Multilateral control

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U2 - 10.1109/SICE.2007.4421373

DO - 10.1109/SICE.2007.4421373

M3 - Conference contribution

AN - SCOPUS:50249179773

SN - 4907764286

SN - 9784907764289

T3 - Proceedings of the SICE Annual Conference

SP - 2302

EP - 2308

BT - SICE Annual Conference, SICE 2007

T2 - SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007

Y2 - 17 September 2007 through 20 September 2007

ER -

Haptic broadcasting of grasping operation by multilateral control

Abstract

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Keywords

ASJC Scopus subject areas

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