TY - GEN
T1 - Multilateral control-based motion copying system for haptic training
AU - Kebude, Dogancan
AU - Morimitsu, Hidetaka
AU - Katsura, Seiichiro
AU - Sabanovic, Asif
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
PY - 2014
Y1 - 2014
N2 - This paper proposes a new motion-loading method that utilizes a multilateral control-based scheme for the motion-copying system. The motion-copying system refers to human operator's motion, tracks and preserves it only for being able to reproduce the same result of the motion. Conventionally, only slave system was used for motion-loading phase. The method proposed in this paper offers a way to enable more than one slave side actuator at the phase. With the proposed system, the operator at loading phase can grab the master system which the manipulator was holding at the saving phase. The performance analyses of proposed system are made with the bode plots, and the experiments are held with two degrees-of-freedom actuators. The newly proposed haptic informational reproduction technique can be applied in many areas, especially as the training purposes.
AB - This paper proposes a new motion-loading method that utilizes a multilateral control-based scheme for the motion-copying system. The motion-copying system refers to human operator's motion, tracks and preserves it only for being able to reproduce the same result of the motion. Conventionally, only slave system was used for motion-loading phase. The method proposed in this paper offers a way to enable more than one slave side actuator at the phase. With the proposed system, the operator at loading phase can grab the master system which the manipulator was holding at the saving phase. The performance analyses of proposed system are made with the bode plots, and the experiments are held with two degrees-of-freedom actuators. The newly proposed haptic informational reproduction technique can be applied in many areas, especially as the training purposes.
UR - http://www.scopus.com/inward/record.url?scp=84907380028&partnerID=8YFLogxK
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U2 - 10.1109/ISIE.2014.6864968
DO - 10.1109/ISIE.2014.6864968
M3 - Conference contribution
AN - SCOPUS:84907380028
SN - 9781479923991
T3 - IEEE International Symposium on Industrial Electronics
SP - 2250
EP - 2255
BT - Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Y2 - 1 June 2014 through 4 June 2014
ER -