Wataru Yamanouchi

Bilateral teleoperation with dimensional scaling for realization of mobile-hapto

Multimedia technology has been widely spread as the basis for human communications. For example, telephone, television and radio broadcasting are good tools for remote communication. Recently, communication tools such as the portable telephone and Internet spread all over the world. These devices substitute humans eyes and ears. Haptic information has paid attention as the third multimedia information. Especially a transmission technique of real-world haptic information is demanded. This paper proposes a novel haptic transmission in different motion area, named ldquomobile-haptordquo. The ldquomobilehaptordquo consists of a mobile robot and a joystick. A mobile robot has infinite area for its motion. On the contrary, a joystick is fixed for operation by a human. To transmit haptic information in the ldquomobile-haptordquo, bilateral control with dimension scaling is proposed. As a result, intuitive manipulation becomes possible by using the ldquomobile-haptordquo. Effectiveness of the proposed method is verified by experimental results.

Real-World Haptics: Reproduction of Human Motion

In recent years, communication technologies have grown rapidly and from the communication point of view, real-world haptics is the key technology for future haptic technology. Consequently, this article focuses on the storage and reproduction methods for haptic information in the real world. The bilateral connection of haptic systems with force feedback ability makes telecommunication among remote human operators possible. This article shows a motion-copying system (MCS) as a spatiotemporal coupler of real-world haptic information. As with sound and visual information, an MCS is capable of storing and reproducing raw force and position information of human operator. Once human motion is stored using MCS, it is possible to reproduce it at any time and place. This will be useful for the digital preservation of motions by skilled experts as a haptic database.

Variable time-space compliance control for human support

Recently, doctor and medical care persons are shortage by the aging of population. Thus, support systems using a robot are needed for future medical care. The position controller and velocity controller are used in order to operate the human support system. However, these controllers cannot consider complicate and natural human motion. This paper proposes a method of human support system using motion-copying system. The motion-copying system stores the motion information of the human operator. The proposed method supports the stored human motion. By the experiment, validity of the proposed method is verified.

Real-world force feedback control for mobile-hapto

Recently, communication tools such as the portable telephone and Internet spread all over the world. These devices substitute human eye and ear. Haptic information has paid attention as the third multimedia information. This paper proposes a transmission technique of real world haptic information. This paper proposes a novel haptic transmission in different motion area, named mobile-hapto. The mobile-hapto consists of a mobile robot and a joystick. Intuitive manipulation results become possible by using mobile-hapto. Effectiveness of this proposition method is verified by driving experimental.

A novel dimensional scaling bilateral control for realization of mobile-hapto

This paper proposes a novel dimensional scaling bilateral control for mobile-hapto. The dimensional scaling bilateral control realizes force feedback between the master and the slave with different motion areas. By this system, an operator can manipulate velocity of the slave, and feel reaction force at the slave. For realizing this system, force and position responses of the master and the slave are transformed to a modal space. And force and position controllers are constructed in the modal space. In the conventional method, however, a precise bilateral controller is not achieved because the dynamics in the modal space is not considered. Therefore, in this paper, the dynamic behaviors in the modal space is described, and a decoupling control system with the disturbance observer in the modal space is realized by the proposed method. Finally, the validity of the proposal is verified by simulation and experimental results.

Multilateral force feedback control using dynamical modal transformation

Recent advances in control technology have contributed to the development of robot systems for communication. Robot systems recognize their environment on the basis of audio-visual information. Recognition methods based on audio-visual feedback have been developed by many researchers. Apart from auditory and visual information, haptic information has recently attracted attention as the third type of multimedia information. The sense of touch is useful for remote manipulation. Feedback of haptic information is realized by bilateral control. Most systems are constructed using a master-slave system in which the master-slave systems have the same mechanical structure. However, we proposed force feedback systems with different mechanical structures. Previous research proposed novel transformation matrix for different mechanical structures including Laplace operator. In this research, effect of integro-differential scaling for proposed modal transformation is verified to experiment.

A novel control index of bilateral control for master-slave system with different motion areas

In this paper, a novel control index of the bilateral control for master-slave system with different motion areas is proposed. Most of applications of the bilateral control are composed of the master-slave system with same motion areas. For realizing master-slave system with different motion areas, micro-macro bilateral control and dimensional scaling bilateral control were proposed. In these methods, however, the conventional control index of the bilateral control “transparency” is not applied because of the different motion areas between the master and the slave. Therefore, the evaluation of these methods which consist on master-slave system with different motion areas have not been conducted. On the other hand, the proposed control index is based on the operational energy of the operator. By using the proposed control index, therefore, the superiority of the bilateral control is shown by the operational energy. In addition, this paper shows that the dimensional scaling bilateral control is superior to the micro-macro bilateral control from operational energetic point of view by the proposed control index. Finally, the validity of the proposal is verified by experimental results.

Preservation and reproduction of real-world haptic information

Artificial acquisition and reproduction of human sensations are basic technologies of industrial applications. Recently, haptic sensation is attracted attention as the third multimedia information. Such sensation is kind of bilateral sensation since it is subject to the law of action and reaction in the real world. From the point of view, real-world haptics is the key technology for future haptic technology. Bilateral connection of haptic systems with force feedback ability realizes telecommunication between remote human operators. The paper shows a “real-world haptic system (RHS)” as a spatiotemporal coupler of real-world haptic information. Once human motion is stored using RHS, it is possible to reproduce it at anytime and anywhere. Furthermore, the stored motion components are integrated and reproduced in one motion. It will be useful for digital preservation of motions by skilled experts as the haptic database. The experimental results show the viability of the proposed method.

Human support system using haptic cell

Recently, doctor and medical care persons are shortage by the aging of population. Thus, robot support systems are needed for medical care. The motion of the human support system is controlled by routine. Position control and velocity control is usual method. These controls are not considered the human motion. This paper proposes method of human support system using motion coping system. The motion coping system saves human motion information. The proposed method supports the human based on saved human motion information. Effectiveness of the proposed method is verified by experimental results.