2011 Volume 131 Issue 2 Pages 180-186
Recent advances in control technology have contributed to the development of robot systems for communication with humans. Robot systems recognize the environment on the basis of audio-visual information. Recognition methods based on audio-visual feedback have been developed by many researchers. Recently, haptic information has attracted attention as the third type of multimedia information. This paper proposes a force feedback method for systems with different motion areas, named “mobile-hapto”. Sense of touch is useful for remote manipulation. The mobile-hapto consists of a mobile robot with an infinite area for motion and a joystick that is fixed at a given position and can be operated manually. To realize of force feedback in the “mobile-hapto”, bilateral control with dimensional scaling is proposed. In this case, intuitive manipulation becomes possible when using the “mobile-hapto”. The effectiveness of the proposed method is verified by experimental results.
The transactions of the Institute of Electrical Engineers of Japan.C
The transactions of the Institute of Electrical Engineers of Japan.B
The transactions of the Institute of Electrical Engineers of Japan.A
The Journal of the Institute of Electrical Engineers of Japan