TY - GEN
T1 - Function estimation of grasping/manipulating motions in scaled bilateral control using principal component analysis
AU - Nagashima, Hiroki
AU - Katsura, Seiichiro
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2012
Y1 - 2012
N2 - This paper proposes an estimation method of functional mode in grasping/manipulation motion in scaled bilateral control system. In the conventional method, however, it is presupposed that functional-mode is predefined. By using proposed method using principal component analysis(PCA), time-variable functional mode of control system and human motion is directly estimated from motion information without considering predefined functional mode. In grasping/manipulation motion in scaled bilateral control, it is possible to estimate the principal functional mode and evaluate the performance of control systems. Validity of the proposal is confirmed by experiments.
AB - This paper proposes an estimation method of functional mode in grasping/manipulation motion in scaled bilateral control system. In the conventional method, however, it is presupposed that functional-mode is predefined. By using proposed method using principal component analysis(PCA), time-variable functional mode of control system and human motion is directly estimated from motion information without considering predefined functional mode. In grasping/manipulation motion in scaled bilateral control, it is possible to estimate the principal functional mode and evaluate the performance of control systems. Validity of the proposal is confirmed by experiments.
UR - http://www.scopus.com/inward/record.url?scp=84872977860&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872977860&partnerID=8YFLogxK
U2 - 10.1109/IECON.2012.6389178
DO - 10.1109/IECON.2012.6389178
M3 - Conference contribution
AN - SCOPUS:84872977860
SN - 9781467324212
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4412
EP - 4417
BT - Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
T2 - 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
Y2 - 25 October 2012 through 28 October 2012
ER -