TY - GEN
T1 - Teleoperation with soft sensation based on transformer and gyrator theorems
AU - Muis, Abdul
AU - Ohnishi, Kouhei
PY - 2006
Y1 - 2006
N2 - Ideally, a bilateral teleoperation would be completely transparent, so the operators feel that they are directly interacting with the remote task [1]. However, the delay presence in interconnection between both systems, degrade system performance. There have been two major approaches to this problem. The one who concerns on interaction safety and stability, considers teleoperation as a passive system. The rest considers delay manipulation to attain robust performance with limited stability. Obviously, bilateral system is a two-port system just like transformer and gyrator in electrical circuit. There has been tremendous effort to apply gyration for stabilization [2]. However, this paper in different way proposes bilateral teleoperation based on combination of transformer and gyrator analogies. Although with less transparency, this method provides soft sensation on delayed teleoperation. The validity of this method is confirmed through experimental results.
AB - Ideally, a bilateral teleoperation would be completely transparent, so the operators feel that they are directly interacting with the remote task [1]. However, the delay presence in interconnection between both systems, degrade system performance. There have been two major approaches to this problem. The one who concerns on interaction safety and stability, considers teleoperation as a passive system. The rest considers delay manipulation to attain robust performance with limited stability. Obviously, bilateral system is a two-port system just like transformer and gyrator in electrical circuit. There has been tremendous effort to apply gyration for stabilization [2]. However, this paper in different way proposes bilateral teleoperation based on combination of transformer and gyrator analogies. Although with less transparency, this method provides soft sensation on delayed teleoperation. The validity of this method is confirmed through experimental results.
UR - http://www.scopus.com/inward/record.url?scp=51349084498&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2006.372371
DO - 10.1109/ICIT.2006.372371
M3 - Conference contribution
AN - SCOPUS:51349084498
SN - 1424407265
SN - 9781424407262
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 346
EP - 351
BT - 2006 IEEE International Conference on Industrial Technology, ICIT
T2 - 2006 IEEE International Conference on Industrial Technology, ICIT
Y2 - 15 December 2006 through 17 December 2006
ER -