TY - GEN
T1 - Methods for reduction of operational force in force sensor-less bilateral control with thrust wire
AU - Sato, Tomoya
AU - Sakaino, Sho
AU - Ohnishi, Kouhei
PY - 2010/8/23
Y1 - 2010/8/23
N2 - Force sensor-less bilateral control with thrust wire can realize low-cost bilateral applications and is very useful. However, there is a problem. Since modeling of the thrust wire is very difficult, there is disturbance from modeling error of the thrust wire. Thus, an operator feels heavy operational force caused by friction of the thrust wire. This is not suitable for bilateral control. Purpose of this research is to reduce of the operational force in force sensor-less bilateral control with the thrust wire without precise modeling, extra sensors, or extra actuators. A force transform that is a transform of estimated reaction force is presented for the thrust wire. Additionally, bilateral control methods with the force transform are proposed. Using the proposed methods, reduction of the operational force is realized. The validity was confirmed by some experiments.
AB - Force sensor-less bilateral control with thrust wire can realize low-cost bilateral applications and is very useful. However, there is a problem. Since modeling of the thrust wire is very difficult, there is disturbance from modeling error of the thrust wire. Thus, an operator feels heavy operational force caused by friction of the thrust wire. This is not suitable for bilateral control. Purpose of this research is to reduce of the operational force in force sensor-less bilateral control with the thrust wire without precise modeling, extra sensors, or extra actuators. A force transform that is a transform of estimated reaction force is presented for the thrust wire. Additionally, bilateral control methods with the force transform are proposed. Using the proposed methods, reduction of the operational force is realized. The validity was confirmed by some experiments.
KW - Bilateral control
KW - Force sensor-less control
KW - Operational force
KW - Thrust wire
UR - http://www.scopus.com/inward/record.url?scp=77955692454&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955692454&partnerID=8YFLogxK
U2 - 10.1109/HSI.2010.5514537
DO - 10.1109/HSI.2010.5514537
M3 - Conference contribution
AN - SCOPUS:77955692454
SN - 9781424475605
T3 - 3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings
SP - 412
EP - 418
BT - 3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings
T2 - 3rd International Conference on Human System Interaction, HSI'2010
Y2 - 13 May 2010 through 15 May 2010
ER -