TY - GEN
T1 - Abstraction and reproduction of force sensation from real environment by bilateral control
AU - Shimono, Tomoyuki
AU - Katsura, Seiichiro
AU - Ohnishi, Kouhei
PY - 2005/12/1
Y1 - 2005/12/1
N2 - In recent years, skill preservation of an expert has been a serious problem in the medical or production fields. If digital skill preservation like a bilateral database is attained, it may become an innovative solution of the above problem. In this paper, abstraction and reproduction methods of force sensation from the real environment by bilateral control, and reconstruction method of the real environment are proposed. In the abstraction mode, a master-slave system is composed and the law of action and reaction is attained by bilateral control. We succeeded in realization of a vivid sensation of touch for bilateral robot system. Force and position information of both of master and slave systems is calculated and obtained, being based on acceleration information. In the reconstruction mode, an environment model is reconstructed from the obtained data of the real environment. In the reproduction mode, only the master system is prepared. Human operates the master system and feels force sensation from the environmental model which is reconstructed in the reconstruction mode. As a result, the proposed system is able to store the real environment as a bilateral database. The experimental results show the viability of the proposed method.
AB - In recent years, skill preservation of an expert has been a serious problem in the medical or production fields. If digital skill preservation like a bilateral database is attained, it may become an innovative solution of the above problem. In this paper, abstraction and reproduction methods of force sensation from the real environment by bilateral control, and reconstruction method of the real environment are proposed. In the abstraction mode, a master-slave system is composed and the law of action and reaction is attained by bilateral control. We succeeded in realization of a vivid sensation of touch for bilateral robot system. Force and position information of both of master and slave systems is calculated and obtained, being based on acceleration information. In the reconstruction mode, an environment model is reconstructed from the obtained data of the real environment. In the reproduction mode, only the master system is prepared. Human operates the master system and feels force sensation from the environmental model which is reconstructed in the reconstruction mode. As a result, the proposed system is able to store the real environment as a bilateral database. The experimental results show the viability of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=33748356700&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33748356700&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2005.1529158
DO - 10.1109/ISIE.2005.1529158
M3 - Conference contribution
AN - SCOPUS:33748356700
SN - 0780387384
SN - 9780780387386
T3 - IEEE International Symposium on Industrial Electronics
SP - 1521
EP - 1526
BT - Proceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
T2 - IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Y2 - 20 June 2005 through 23 June 2005
ER -