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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...
In haptic communication via the network, transmission period is not able to be designed uniquely since it restricted by the line bandwidth, transmission protocol, hardware constraints and so on. To address this problem, downsampling is often employed. Additionally, to enhance the performance of downsampled system, multirate control is proposed. However, the quantitative analysis on downsampling and...
This paper proposes an analysis method about bilateral tele-operation. The bilateral tele-operation is the key technology to the tele-communication. At this point, the bilateral tele-operation treats 2 systems and each system is controlled position and force information. Thus, force information which is attained to a system affects position and force information of another system. These effects are...
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