NDLI: Analysis of generalized hybrid parameters based on macro-micro bilateral control for avoiding destruction of micro object

Content Provider	IEEE Xplore Digital Library
Author	Takeya, M. Katsura, S.
Copyright Year	2015
Description	Author affiliation: Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan (Katsura, S.) \|\| Sch. of Integrated Design Eng., Keio Univ., Yokohama, Japan (Takeya, M.)
Abstract	This paper presents a novel concept of performance index for evaluating the scaled haptic transmission in a micro space. Bilateral control based on acceleration control enables human to acquire and render a tactile sensation. In order to realize the applications of a tactile sensation as well as audio and visual information, editing tactile information will be considered. However, the signal which is measured by a digital sensor is remarkably affected by a high-frequency domain disturbance or quantization error. The purpose of this paper is to expand the previous performance index with the interference of a high-frequency domain disturbance and quantization error. Considering the novel performance index, a modal space filter to extract expectation value is conducted by employing a Kalman filter for avoiding destruction of a micro object. In the experiments, the trade-off between a disturbance matrix and a quantization error matrix is confirmed, and 1000 times scaled haptic transmission that contacts with water fleas is achieved.
Sponsorship	IEEE
Starting Page	003654
Ending Page	003659
File Size	613624
Page Count	6
File Format	PDF
e-ISBN	9781479917624
DOI	10.1109/IECON.2015.7392669
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Quantization (signal) Haptic interfaces Force Proposals Gain Acceleration Performance analysis
Content Type	Text
Resource Type	Article

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