TY - GEN
T1 - Identification of human and environmental impedances by using bilateral control system with low-pass filtered M-sequence signal
AU - Okano, Toshiaki
AU - Ishikawa, Takahiro
AU - Nozaki, Takahiro
AU - Ohnishi, Kouhei
N1 - Funding Information:
ACKNOWLEDGMENT This work is supported in part by a Grant-in-Aid for the Program for Leading Graduate Schools for Science for Development of Super Mature Society from the Ministry of Education, Culture, Sport, Science, and Technology in Japan. Also, this research was supported in part by the Ministry of Education, Culture, Sports, Science and Technology of Japan under Grant-in-Aid for Scientific Research (S), 25220903, 2013.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and the identification method of impedance is strongly desired to develop. In this paper, low-pass filtered M-sequence signal is added to the bilateral control system for identifying both human and environmental impedances with information in the frequency domain. Experiments were conducted for verifying the effectiveness of the proposed method.
AB - This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and the identification method of impedance is strongly desired to develop. In this paper, low-pass filtered M-sequence signal is added to the bilateral control system for identifying both human and environmental impedances with information in the frequency domain. Experiments were conducted for verifying the effectiveness of the proposed method.
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U2 - 10.1109/IECON.2017.8216900
DO - 10.1109/IECON.2017.8216900
M3 - Conference contribution
AN - SCOPUS:85046631039
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 5203
EP - 5208
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -