NDLI: Bilateral control using estimated environmental stiffness as the master position gain

Content Provider	IEEE Xplore Digital Library
Author	Kitamura, K. Yashiro, D. Ohnishi, K.
Copyright Year	2009
Description	Author affiliation: System Design Engineering Keio University, Yokohama, Japan (Kitamura, K.; Yashiro, D.; Ohnishi, K.)
Abstract	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. Teleopertion 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 and stability. There are two representative conventional methods based on acceleration control. One is 4ch bilateral control and the other is 3ch bilateral control. In 4ch bilateral control system, an operator is able to feel the hard environment, but the operator feel the large operational force. On the other hand, in 3ch bilateral control system, little operational force is generated, but stable contact can not be achieved. This paper proposes a novel bilateral control using the estimated environmental stiffness as the master position gain. The proposed method enables the operator to feel the hard environment with little operational force. The validity of the proposed control system is confirmed by analyses and experiments.
Starting Page	2981
Ending Page	2986
File Size	720105
Page Count	6
File Format	PDF
ISBN	9781424446483
ISSN	1553572X
e-ISBN	9781424446506
DOI	10.1109/IECON.2009.5415282
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-11-03
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Communication system control Control systems Force control Humans Space missions Delay Master-slave Degradation Stability Acceleration
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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