Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 14, 2018 - March 15, 2018
The bilateral control is often implemented in master-slave robot system for providing a force feedback function. According to the requirements of tasks, the control parameters can be adjusted to optimize the haptic sensitivity of operator when the slave device contacts the environment. However, the quantitative relationship between various parameters and the haptic sensitivity has not been clarified.
In this research, firstly, we introduce an index for quantifying the operator's haptic sensitivity in which the velocity information of the master is used. Secondly, the effects from changes of various parameters to the index is analyzed. Finally, we establish a function to calculate the haptic sensitivity index just from the control parameters.
