触覚呈示用信号を重畳させた遠隔操作用バイラテラル制御

概要

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Tactile display enhances reality of manipulation in master-slave manipulation system. This paper proposes a bilateral control method that incorporates tactile display signal in the control loop of the master hand actuator in order to use the master hand's actuator for both actuation and tactile display. This will eliminate the need for dedicated tactile display device on the master hand. A tactile sensor that detects vibration is attached on the slave finger. Slippage at the slave finger and texture of the object are displayed by high-pass-filtered tactile sensor signal. The onset of touch and removal of a slave finger are displayed by an asymmetrical triangular pattern that comprises of fast ascent and slow descent. The design of this pattern is based on the results of psychophysical experiments that the human fingers cannot feel the motion of a display pin slower than 0.2mm/s for protrusion and 0.5mm/s for receding motion. The operator will feel only the fast ascent of the display pin, and hence have the sensation of touch and removal even though the operator's finger is constantly touching the master hand. A low pass filter removes these additional tactile display signals in the master hand that may cause instability in the bilateral control. Experimental results show that the proposed bilateral control system enhances reality of touch and slippage in the master-slave manipulation system.
公益社団法人精密工学会の論文
2003-01-05