The control scheme of underactuated master system in bilateral control for operation of fragile environment

Daisuke Tomizuka; Kouhei Ohnishi

doi:10.1109/IECON.2015.7392781

The control scheme of underactuated master system in bilateral control for operation of fragile environment

Daisuke Tomizuka, Kouhei Ohnishi

Department of System Design Engineering

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

1 Citation (Scopus)

Abstract

In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that the Voice Coil Motor (the VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. In addition, bilateral control between different degrees-of-freedom system is inspected to acquire clearer tactile sensation than same degrees-of-freedom system. Moreover, the stiffness of the fragile environment is measured because the property of the environment is acquired. Finally, the validity of these methods are verified through experiments.

Original language	English
Title of host publication	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4382-4387
Number of pages	6
ISBN (Electronic)	9781479917624
DOIs	https://doi.org/10.1109/IECON.2015.7392781
Publication status	Published - 2016 Jan 25
Event	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan Duration: 2015 Nov 9 → 2015 Nov 12

Other

Other	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country/Territory	Japan
City	Yokohama
Period	15/11/9 → 15/11/12

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

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10.1109/IECON.2015.7392781

Cite this

The control scheme of underactuated master system in bilateral control for operation of fragile environment. / Tomizuka, Daisuke; Ohnishi, Kouhei.
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4382-4387 7392781.

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

Tomizuka, D & Ohnishi, K 2016, The control scheme of underactuated master system in bilateral control for operation of fragile environment. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392781, Institute of Electrical and Electronics Engineers Inc., pp. 4382-4387, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392781

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The control scheme of underactuated master system in bilateral control for operation of fragile environment

Abstract

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