Bilateral Control in the Vertical Direction Using Functional Electrical Stimulation
Bilateral Control in the Vertical Direction Using Functional Electrical Stimulation
复制标题
使用功能性电刺激垂直方向的双边控制
DOI：
10.1541/ieejjia.5.398
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发表时间：
2016
影响因子：
1.7
通讯作者：
T. Tsuji
中科院分区：
文献类型：
--
作者：
Tomoya Kitamura;Naoto Mizukami;H. Mizoguchi;S. Sakaino;T. Tsuji
在这项研究中，我们研究了使用功能性电刺激(FES)在垂直方向上的双侧控制。双边控制是一种结合了力反馈的远程操作技术。这项技术在日常生活中有潜在的应用，包括允许医生做出诊断，或者让朋友在相隔很远的时候使用触觉进行交流。然而，目前这项技术的迭代需要佩戴机器人手臂。这是不可取的，因为这样的手臂很重，而且很难生产出多自由度的手臂。为了解决这些问题，我们研究了使用FES的双边控制。然而，在以往将FES应用于双边控制的研究中，没有研究垂直方向的控制和反作用力的影响。在本研究中，我们验证了垂直控制是可以实现的。首先，一名人类操作员的运动在垂直方向上跟随另一名操作员的移动，证明了使用FES进行垂直双边控制是有效的。接下来，我们调查了操作者是否能辨认出对方何时举着重物。这项实验证明，操作者能够识别伴侣手中重量的存在或不存在。然而，可以看到主人和奴隶的手臂在颤抖。我们认为，可以通过估计武器的反作用力来消除这个问题。
In this study, we investigated bilateral control in the vertical direction using functional electrical stimulation (FES). Bilateral control is a remote operation technique that incorporates force feedback. This technology has potential applications in everyday life, including allowing medical doctors to make diagnoses or friends to communicate using tactile sensations when far apart. However, current iterations of this technology require robot arms to be worn. This is undesirable as such arms are heavy, and arms with multi degree-of-freedom are difficult to produce. To address these problems, we investigated bilateral control using FES. However, in previous studies, which applied FES to bilateral control, control in the vertical direction and the effect of reaction forces were not investigated. In this study, we verified that vertical control is achievable. First, the movements of a human operator were shown to follow those of another operator in the vertical direction, demonstrating that vertical bilateral control using FES is effective. We next investigated whether an operator could recognize when the partner was holding a weight. This experiment demonstrated that the operator was able to recognize the presence or absence of the weight in the hand of the partner. However, shaking was observed in the arms of the master and slave. We believe that this problem can be eliminated by estimating the reaction forces of arms.
DOI：
10.1145/1978942.1979018
发表时间：
2011-05
期刊：
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
影响因子：
--
作者：
E. Tamaki;Takashi Miyaki;J. Rekimoto
通讯作者：
E. Tamaki;Takashi Miyaki;J. Rekimoto
DOI：
10.1109/tnsre.2005.847355
发表时间：
2005-09-01
影响因子：
4.9
作者：
Kurosawa, K;Futami, R;Hoshimiya, N
通讯作者：
Hoshimiya, N
影响因子：
4.6
作者：
Pacchierotti, Claudio;Prattichizzo, Domenico;Kuchenbecker, Katherine J.
通讯作者：
Kuchenbecker, Katherine J.