Teleoperation with soft sensation based on transformer and gyrator theorems

Abdul Muis, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages346-351
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2006
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 15 Dec 200617 Dec 2006

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Conference

Conference2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period15/12/0617/12/06

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