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This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and...
This paper studies analysis of bilateral control system with time delay based on mechanical power factor (MPF) concept. MPF is an interesting and useful performance index for evaluation of motion control systems. In this paper, first, effect of time delay and the effectiveness of a time-delay compensation method by using communication disturbance observer (CDOB) in bilateral control systems are analyzed...
In this paper, the four-channel acceleration based control with communication disturbance observer and band eliminate filter is proposed. In previous research, authors proposed 4ch ABC with BEE In this method, BEF is set on position response of slave, and this method suppresses an oscillation of position response. Therefore, position response is improved. However, this method makes the large operational...
This paper examines a stability characteristic of gyrator type bilateral control in order to determine a definite feedback gain and scaling design. Stability is examined based on root locus. Maximum stable gain, transfer impedance and transfer admittance are observed in the examination. Moreover, it is observed that at certain transfer impedance and admittance, gyrator type bilateral control and transformer...
This paper proposes a structure for a position/force hybrid control through network. In the case of most conventional structures, each terminal controller transmits a position/force interactively. Then these terminals calculate acceleration references by themselves. In contrast, our previous research proposed a novel structure for a position/force hybrid control through network. In this approach,...
This paper proposes a novel method which detects a rupture of organs based on environmental impedance estimation. The proposed method detects the rupture of the organs which is conducive to serious medical accident. The environmental impedance is estimated from position and force responses of a surgery robot by using recursive least-squares algorithm. The rupture behavior is analyzed, and thresholds...
Bilateral control system has been developed as a method to transmit a tactile sense. It enables human operators to feel as if they were really touching the environment. Teleoperation with the bilateral control has a wide range of application such as telesurgery, deep-sea operation, space mission, etc. However, the presence of the communication delay between master and slave systems degrades performance...
Bilateral control system has been developed as a method to transmit tactile sense in order to be applied to handling radioactive material, operating unmanned underwater vehicles, space robotics, telesurgery, etc. Bilateral control system is able to transmit tactile sense to only one operator. To transmit tactile sense to multiple operators, multilateral control was expanded from bilateral control...
This paper describes a power assist control in pushing task by an electric wheelchair. Recently, wheelchairs are widely used in daily lives by disabled person. In this paper, a new power assist control using acceleration information of object is proposed as intelligent function of wheelchair. In this strategy, acceleration information of object is utilized to generate the power assist torque for wheels...
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