Cart (Loading....) | Create Account
Close category search window

A Realization of Haptic Training System by Multilateral Control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Katsura, S. ; Dept. of Syst. Design Eng., Keio Univ., Yokohama ; Ohnishi, K.

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

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:53 ,  Issue: 6 )

Date of Publication:

Dec. 2006

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.