Scheduled System Maintenance:
On Monday, April 27th, IEEE Xplore will undergo scheduled maintenance from 1:00 PM - 3:00 PM ET (17:00 - 19:00 UTC). No interruption in service is anticipated.
By Topic

A method for estimation of operational torque considering of asymmetric property on bilateral 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)
Kawamoto, M. ; Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan ; Ohnishi, K.

Bilateral control system is widely researched as a technique for robotic telesurgery, since reaction force from objects is important information for precise surgical operation. Reaction force/torque observer (RFOB/RTOB) realizes sensorless estimation of external force and it has been efficiently utilized for bilateral control. However, precise estimation of operational force is required for accurate estimation of reaction force. Otherwise the operability of the robot deteriorates. In addition, operational force, such as friction force, changes within the range of motion when the structure of the robot is asymmetric. This paper proposes a method for estimation of operational torque considering of the asymmetric property. The validity of the proposed method is confirmed by experimental results.

Published in:

Human System Interactions (HSI), 2011 4th International Conference on

Date of Conference:

19-21 May 2011