Toshiyuki Suzuyama

A Realization of Multilateral Force Feedback Control for Cooperative Motion

This paper proposes a novel control design for multilateral system considering different degrees of freedom (DOF) and structure. The conventional coordinate transformation with respect to the Cartesian coordinate system is not always suitable for bilateral and/or multilateral control for dexterous tasks, including grasping motion. This paper introduces spatial mode transformation, which is corresponding to humans tasks. The spatial modes are abstracted by using mode quarry matrices. The order of the mode quarry matrices means the task DOF, and the decoupled modes correspond to ldquotranslational task,rdquo ldquorotating task,rdquo ldquograsping task,rdquo and so on. Thus, the problems for motion integration of different DOF and structure are solved to design a multilateral controller in the spatial mode coordinate systems. Furthermore, the proposed multilateral control is designed based on acceleration control to realize both the force servoing and the position regulator for action-reaction law in remote environment simultaneously. The proposed multilateral control is applied for a multimaster/single-slave system, where the DOF is different from each other. As a result, a complicated task for the slave system is easily realized by two master systems with vivid force feedback based on modal control design of the multilateral system. The experimental results show viability of the proposed method.

Motion Acquisition and Reproduction of Human Hand by Interaction Mode Control

Recently, skill preservation of an expert has been a serious problem of the medical or production fields. If digital skill preservation as a bilateral database is attained, it may become an innovative solution of the problem. This paper proposes a motion acquisition and reproduction of human motion by the interaction mode control. The proposed interaction mode control can control only the interactions between the systems. The interactions are abstracted by using the quarry matrix. Since the quarry matrix can divide systems into decoupled modes, it is possible to design a controller in the modal space. The order of the quarry matrix corresponds to the number of human finger. Thus the skilled motion by a human is easily obtained and analyzed in the modal space by using the quarry matrix. The experimental results show viability of the proposed method

Bilateral Force Feedback Control Based on Wideband Acceleration Control

Real-world haptics is the key technology for future human support engineering. Because it is able to realize a bilateral recognition between humans action and real environment and transmit the recognized information through human sensations. From the point of view, a future robot should act as the physical agent. Transmission performance of the environmental information to human depends on transparency of a physical agent. The transparency includes spatial and temporal characteristics. Higher spatial transparency transmits much environmental modes. On the contrary, higher temporal transparency transmits wide frequency bandwidth. To improve the transparency, the paper proposes wideband acceleration control for bilateral force feedback control. Since the conventional acceleration control obtains the acceleration information by the second-order derivative of a position response, its bandwidth is limited due to the derivative noise. To enlarge the bandwidth of an acceleration control, the paper proposes a position-acceleration integrated disturbance observer (PAIDO). Since an acceleration sensor is implemented in PAIDO, the bandwidth of the acceleration control based on PAIDO is able to outstrip the one of humans tactile sensation. As a result, vivid tactile sensation is possible in the experimental haptic device. The experimental results show the viability of the proposed method.

Haptic Information Sharing by Multilateral Control

In recent years, bilateral system has been widely researched for its functionality and availability. The system is effective in the fields of medical treatment, but application is limited to one-on-one system. The purpose of this study is development of basic technology for haptic information sharing technology. In this paper, a noble bilateral control method is introduced to realize multiple inputs or plural outputs bilateral system. At first, bilateral system based on acceleration control is discussed. Acceleration control is accomplished by disturbance observer. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes in the virtual space. Decomposed controller helps to control position and force information individually. Second, the bilateral control is extended and generalized as a multilateral control which based on the decomposed controller. In the proposed multilateral control, interactivity and synchronism are achieved easier than conventional control. Third, numerical simulation and experimental results are shown. Proposed method is easy to expand to infinite dimension. As a minimum dimension of the multilateral control, the series of experiments are conducted by six robots. The numerical simulation and experimental results show the viability of the proposed method