Transmission of force sensation by environment quarrier based on multilateral control

Seiichiro Katsura, Kouhei Ohnishi, Kiyoshi Ohishi

研究成果: Article査読

48 被引用数 (Scopus)


In recent years, realization of a haptic system has been strongly desired in the fields of medical treatment and expert's skill acquisition. The bandwidth of force sensing and friction compensation are very important problems for reproduction of vivid force sensation. In this paper, an environment quarrier is proposed for bilateral teleoperation instead of force sensors. The environment quarrier is a novel force-sensing method that consists of a twin robot system. Two of the same type of robot are required and they are controlled in the same position, velocity, and acceleration by bilateral acceleration control based on a disturbance observer. One robot is in contact motion and the other is unconstrained. The purity of external force is obtained by subtracting the disturbance torque in the unconstrained robot from the constrained one. The environment quarrier can observe the external force with high bandwidth and friction compensation. In this paper, the idea of multilateral control is introduced for attainment of simultaneity. Furthermore, this paper shows the controller design of the multilateral control in the modal space. The experimental results show the viability of the proposed method.

ジャーナルIEEE Transactions on Industrial Electronics
出版ステータスPublished - 2007 4月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学


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