TY - GEN
T1 - Extraction and realization of human actions
AU - Nozaki, Takahiro
AU - Tanida, Kazuki
AU - Mizoguchi, Takahiro
AU - Nakano, Tomohiro
AU - Saito, Yuki
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - The objective of this study is reproduction of physical human actions. The information concerning the human actions are extracted by bilateral teleoperation systems using wearable tendon-driven robots. In the bilateral teleoperation systems, modal transformation is applied to achieve three control goals: position tracking, force feedback, and tension control. The extracted information is provided to the slave robot. To attain the reproduction, a force control scheme is employed. The utility of the proposed method is experimentally verified by applying to a removal operation of a nut.
AB - The objective of this study is reproduction of physical human actions. The information concerning the human actions are extracted by bilateral teleoperation systems using wearable tendon-driven robots. In the bilateral teleoperation systems, modal transformation is applied to achieve three control goals: position tracking, force feedback, and tension control. The extracted information is provided to the slave robot. To attain the reproduction, a force control scheme is employed. The utility of the proposed method is experimentally verified by applying to a removal operation of a nut.
UR - http://www.scopus.com/inward/record.url?scp=84903220160&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903220160&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823367
DO - 10.1109/AMC.2014.6823367
M3 - Conference contribution
AN - SCOPUS:84903220160
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 705
EP - 710
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -