Stability analysis and experimental validation of a motion-copying system

Yuki Yokokura, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to journalArticlepeer-review

159 Citations (Scopus)


This paper examines the stability of our proposed motion-copying system in the case that the environmental mechanical impedance is changed. The system preserves and reproduces the motion of the human operator. The examination of this paper derives the transfer function of the motion-loading system considering the environmental impedance and investigates displacement of the poles with the transition of the environment. Moreover, the experiment with respect to environmental changing is carried out. These results confirm theoretically and experimentally that the motion-copying system is stable even if the environment is changed. The haptic informational processing technique by the motion-copying system is useful for industrial applications and medical engineering.

Original languageEnglish
Pages (from-to)3906-3913
Number of pages8
JournalIEEE Transactions on Industrial Electronics
Issue number10
Publication statusPublished - 2009


  • Modal decomposition
  • Motion control
  • Motion-copying system
  • Real-world haptics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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