DocumentCode :
839628
Title :
A Realization of Haptic Training System by Multilateral Control
Author :
Katsura, Seiichiro ; Ohnishi, Kouhei
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama
Volume :
53
Issue :
6
fYear :
2006
Firstpage :
1935
Lastpage :
1942
Abstract :
In recent years, the realization of a haptic system has been desired strongly in the fields of medical treatment and expert´s skill acquisition. An integrated system design of the analysis of the interaction between a robot and the environment required for stable contact operation, an observation method of the reaction force from the environment, and the architecture of a bilateral control system are absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, a haptic training system is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended, and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. The scaling factors of position and force are set independently. Therefore, it is possible to change a trainer´s assistant force according to a trainee´s skill level. The proposed training system based on multilateral control will be a fundamental technology for the evolution of haptic devices
Keywords :
force control; haptic interfaces; medical robotics; position control; surgery; bilateral control system; disturbance observer; force control; haptic training system; integrated system design; medical treatment; modal decomposition; motion control; multilateral control; position control; robot; scaling factors; surgical robot; tactile sensation; teleoperation; Control systems; Feedback; Force control; Haptic interfaces; Medical control systems; Medical robotics; Medical treatment; Robot control; Robot sensing systems; Surgery; Disturbance observer; force control; haptics; motion control; multilateral control; surgical robot; teleoperation; training system;
fLanguage :
English
Journal_Title :
Industrial Electronics, IEEE Transactions on
Publisher :
ieee
ISSN :
0278-0046
Type :
jour
DOI :
10.1109/TIE.2006.885465
Filename :
4016383
Link To Document :
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