Title :
Haptic broadcasting of grasping operation by multilateral control
Author :
Katsura, Seiichiro ; Ohishi, Kiyoshi
Author_Institution :
Nagaoka Univ. of Technol., Niigata
Abstract :
Real-world haptics is the key technology for future haptic communication engineering. In this technical point of view, this paper proposes a novel haptic broadcasting of grasping operation by multilateral control. The experimental haptic broadcasting system has two master systems and one slave system. Since each system has two degrees of freedom, it is possible to control the center-of-gravity position and grasping force, respectively. Furthermore, the paper implements the identity ratio in each master to transmit the same environmental impedance to each master. The experimental results show the viability of the proposed method.
Keywords :
broadcasting; haptic interfaces; telerobotics; bilateral teleoperation; center-of-gravity position; degrees of freedom; grasping force; grasping operation; haptic broadcasting; haptic communication engineering; master systems; slave system; Broadcasting; Communication system control; Control systems; Force control; Force feedback; Grasping; Haptic interfaces; Humans; Master-slave; Medical control systems; Acceleration Control; Bilateral Teleoperation; Haptics; Modal Decomposition; Motion Control; Multilateral Control;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421373