NDLI: Bilateral control considering transition of subsystems based on ability to oppose the thumb

Content Provider	IEEE Xplore Digital Library
Author	Nagatsu, Y. Katsura, S.
Copyright Year	2012
Description	Author affiliation: School of Integrated Design Engineering, Keio University, Yokohama, Japan (Nagatsu, Y.) \|\| Department of System Design Engineering, Keio University, Yokohama, Japan (Katsura, S.)
Abstract	As an academic field which deals with transmission and reproduction of human tactile information, there exists real-world haptics. Bilateral control is an important technology of real-world haptics to transmit tactile information between operators and environment. It is desirable for master or slave systems to work autonomously in order to adapt themselves for motions of operator or environment. In addition, varying the number of driven systems contributes energy conservation and wastes reduction according to change of connection between subsystems. In this paper, a bilateral control system is proposed which realize adaptability to environmental variation of motion and energy conservation by varying system configurations. The variance of system configurations is derived from expression of human fingers as a dynamic model of informationally connected system based on ability to oppos the thumb. ability to oppos the thumb is a necessary function of human fingers and an element which makes the connection vary dynamically. The model is applied to three-fingered bilateral control system. By using proposed method, flexibility to variation of environmental movement and higher concentration to the main tasks and energy conservation are obtained for the bilateral teleoperation. Experimental results show validity of the proposed method.
Starting Page	4388
Ending Page	4393
File Size	1938729
Page Count	6
File Format	PDF
ISBN	9781467324199
ISSN	1553572X
e-ISBN	9781467324212
e-ISBN	9781467324205
DOI	10.1109/IECON.2012.6389182
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-25
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manganese
Content Type	Text
Resource Type	Article

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