Simplified haptic walking system based on bilateral control
Simplified haptic walking system based on bilateral control
复制标题
基于双边控制的简化触觉行走系统
DOI：
10.1109/amc.2010.5463995
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
S. Katsura
中科院分区：
文献类型：
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作者：
Takeshi Okura;S. Katsura
近年来，电话、广播、电视等远程通信技术得到了广泛发展。触觉信息作为第三类多媒体信息被研究。现实世界触觉不仅是遥操作中真实世界触觉信息反馈的原理，也是未来人类支持的关键技术，受到人们的关注。关于触觉的研究对象大多是静止的。因此，这种触觉系统的移动范围是有限的。本文提出了一种新颖的触觉装置，实现了从远程环境对步行运动的力反馈，并对远程系统进行操作。因此，它的移动范围是不受限制的。为了驱动这种触觉系统，本文还提出了异步化的多边控制。使用这种控制，操作员无需离开该场所即可操作远程系统。该触觉系统是虚拟现实和遥操作的有效接口之一。
Recently, remote communication technologies such as telephone, radio and television are extensively developed. Haptic information is studied as the third type of multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. Most of the object of the study about haptics is stationary. Therefore moving ranges of such haptic systems are limited. This paper proposes a novel haptic device, which realizes force feedback of walking motion from remote environment and manipulates remote system. Thus, its moving range is unrestricted. In order to drive this haptic system, the paper also proposes asynchronous multilateral control. Using this control, an operator operates the remote system without leaving the place. The proposed haptic system is one of the effective interfaces for virtual reality and teleoperation.