HapticV1, PascalFrancis, Corpus, bibRecord, 000C78

A realization of haptic training system by multilateral control

Identifieur interne : 000C78 ( PascalFrancis/Corpus ); précédent : 000C77; suivant : 000C79

A realization of haptic training system by multilateral control

Auteurs : Seiichiro Katsura ; Kouhei Ohnishi

Source :

RBID : Pascal:06-0370676

Descripteurs français

Pascal (Inist)
- Sensibilité tactile, Didacticiel, Système commande, Accord multilatéral, Application médicale, Système intégré, Conception intégrée, Conception ingénierie, Conception système, Robotique, Robot, Force réaction, Bilatéral, Sensation, Synthèse commande, Analyse modale, Facteur échelle, Supraconducteur haute température, Echange commercial, Marché électricité, Economie réseau électrique.

English descriptors

KwdEn :
- Bilateral, Control synthesis, Control system, Educational software program, Engineering design, High temperature superconductor, Integrated design, Integrated system, Medical application, Modal analysis, Multilateral agreements, Power markets, Power system economics, Reaction force, Robot, Robotics, Scale factor, Sensation, System design, Tactile sensitivity, Trade.

Abstract

In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 A realization of haptic training system by multilateral control`
A09	`01`	`1`	`ENG`	`@1 IECON 2004 : 30th Annual Conference of the IEEE Industrial Electronics Society : Busan, South Korea, 2-6 November 2004`
A11	`01`	`1`		`@1 KATSURA (Seiichiro)`
A11	`02`	`1`		`@1 OHNISHI (Kouhei)`
A14	`01`			`@1 Department of System Design Engineering, Keio University @2 Yokohama @3 JPN @Z 1 aut. @Z 2 aut.`
A18	`01`	`1`		`@1 IEEE Industrial Electronics Society @3 USA @9 org-cong.`
A20				`@2 Vol3, 2768-2773`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8730-9`
A30	`01`	`1`	`ENG`	`@1 IEEE Industial Electronics Society. Annual conference @2 30 @3 Busan KOR @4 2004-11-02`
A43	`01`			`@1 INIST @2 Y 38722 @5 354000138724385010`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 12 ref.`
A47	`01`	`1`		`@0 06-0370676`
A60				`@1 C`
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C01	`01`		`ENG`	@0 In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.
C02	`01`	`X`		`@0 001D05D06`
C02	`02`	`X`		`@0 001D02D06`
C02	`03`	`X`		`@0 001D05I01H`
C03	`01`	`X`	`FRE`	`@0 Sensibilité tactile @5 01`
C03	`01`	`X`	`ENG`	`@0 Tactile sensitivity @5 01`
C03	`01`	`X`	`SPA`	`@0 Sensibilidad tactil @5 01`
C03	`02`	`X`	`FRE`	`@0 Didacticiel @5 02`
C03	`02`	`X`	`ENG`	`@0 Educational software program @5 02`
C03	`02`	`X`	`SPA`	`@0 Programa didactico @5 02`
C03	`03`	`X`	`FRE`	`@0 Système commande @5 03`
C03	`03`	`X`	`ENG`	`@0 Control system @5 03`
C03	`03`	`X`	`SPA`	`@0 Sistema control @5 03`
C03	`04`	`3`	`FRE`	`@0 Accord multilatéral @5 04`
C03	`04`	`3`	`ENG`	`@0 Multilateral agreements @5 04`
C03	`05`	`X`	`FRE`	`@0 Application médicale @5 05`
C03	`05`	`X`	`ENG`	`@0 Medical application @5 05`
C03	`05`	`X`	`SPA`	`@0 Aplicación medical @5 05`
C03	`06`	`X`	`FRE`	`@0 Système intégré @5 06`
C03	`06`	`X`	`ENG`	`@0 Integrated system @5 06`
C03	`06`	`X`	`SPA`	`@0 Sistema integrado @5 06`
C03	`07`	`X`	`FRE`	`@0 Conception intégrée @5 07`
C03	`07`	`X`	`ENG`	`@0 Integrated design @5 07`
C03	`07`	`X`	`SPA`	`@0 Concepción integrada @5 07`
C03	`08`	`X`	`FRE`	`@0 Conception ingénierie @5 08`
C03	`08`	`X`	`ENG`	`@0 Engineering design @5 08`
C03	`08`	`X`	`SPA`	`@0 Concepción ingeniería @5 08`
C03	`09`	`X`	`FRE`	`@0 Conception système @5 09`
C03	`09`	`X`	`ENG`	`@0 System design @5 09`
C03	`09`	`X`	`SPA`	`@0 Concepción sistema @5 09`
C03	`10`	`X`	`FRE`	`@0 Robotique @5 10`
C03	`10`	`X`	`ENG`	`@0 Robotics @5 10`
C03	`10`	`X`	`SPA`	`@0 Robótica @5 10`
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C03	`11`	`X`	`ENG`	`@0 Robot @5 11`
C03	`11`	`X`	`SPA`	`@0 Robot @5 11`
C03	`12`	`X`	`FRE`	`@0 Force réaction @5 12`
C03	`12`	`X`	`ENG`	`@0 Reaction force @5 12`
C03	`12`	`X`	`SPA`	`@0 Fuerza reacción @5 12`
C03	`13`	`X`	`FRE`	`@0 Bilatéral @5 13`
C03	`13`	`X`	`ENG`	`@0 Bilateral @5 13`
C03	`13`	`X`	`SPA`	`@0 Bilateral @5 13`
C03	`14`	`X`	`FRE`	`@0 Sensation @5 14`
C03	`14`	`X`	`ENG`	`@0 Sensation @5 14`
C03	`14`	`X`	`SPA`	`@0 Sensación @5 14`
C03	`15`	`X`	`FRE`	`@0 Synthèse commande @5 15`
C03	`15`	`X`	`ENG`	`@0 Control synthesis @5 15`
C03	`15`	`X`	`SPA`	`@0 Síntesis control @5 15`
C03	`16`	`X`	`FRE`	`@0 Analyse modale @5 16`
C03	`16`	`X`	`ENG`	`@0 Modal analysis @5 16`
C03	`16`	`X`	`SPA`	`@0 Análisis modal @5 16`
C03	`17`	`X`	`FRE`	`@0 Facteur échelle @5 17`
C03	`17`	`X`	`ENG`	`@0 Scale factor @5 17`
C03	`17`	`X`	`SPA`	`@0 Factor escala @5 17`
C03	`18`	`X`	`FRE`	`@0 Supraconducteur haute température @5 22`
C03	`18`	`X`	`ENG`	`@0 High temperature superconductor @5 22`
C03	`18`	`X`	`SPA`	`@0 Supraconductor alta temperatura @5 22`
C03	`19`	`X`	`FRE`	`@0 Echange commercial @5 31`
C03	`19`	`X`	`ENG`	`@0 Trade @5 31`
C03	`19`	`X`	`SPA`	`@0 Intercambio comercial @5 31`
C03	`20`	`3`	`FRE`	`@0 Marché électricité @5 32`
C03	`20`	`3`	`ENG`	`@0 Power markets @5 32`
C03	`21`	`3`	`FRE`	`@0 Economie réseau électrique @5 33`
C03	`21`	`3`	`ENG`	`@0 Power system economics @5 33`
N21				`@1 247`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0370676 INIST
ET :	A realization of haptic training system by multilateral control
AU :	KATSURA (Seiichiro); OHNISHI (Kouhei)
AF :	Department of System Design Engineering, Keio University/Yokohama/Japon (1 aut., 2 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE Industial Electronics Society. Annual conference/30/2004-11-02/Busan KOR; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Vol3, 2768-2773; ISBN 0-7803-8730-9
LA :	Anglais
EA :	In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.
CC :	001D05D06; 001D02D06; 001D05I01H
FD :	Sensibilité tactile; Didacticiel; Système commande; Accord multilatéral; Application médicale; Système intégré; Conception intégrée; Conception ingénierie; Conception système; Robotique; Robot; Force réaction; Bilatéral; Sensation; Synthèse commande; Analyse modale; Facteur échelle; Supraconducteur haute température; Echange commercial; Marché électricité; Economie réseau électrique
ED :	Tactile sensitivity; Educational software program; Control system; Multilateral agreements; Medical application; Integrated system; Integrated design; Engineering design; System design; Robotics; Robot; Reaction force; Bilateral; Sensation; Control synthesis; Modal analysis; Scale factor; High temperature superconductor; Trade; Power markets; Power system economics
SD :	Sensibilidad tactil; Programa didactico; Sistema control; Aplicación medical; Sistema integrado; Concepción integrada; Concepción ingeniería; Concepción sistema; Robótica; Robot; Fuerza reacción; Bilateral; Sensación; Síntesis control; Análisis modal; Factor escala; Supraconductor alta temperatura; Intercambio comercial
LO :	INIST-Y 38722.354000138724385010
ID :	06-0370676

Links to Exploration step

Pascal:06-0370676

Le document en format XML

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<front><div type="abstract" xml:lang="en">In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.</div>
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<fC01 i1="01" l="ENG"><s0>In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.</s0>
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<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Robot</s0>
<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Robot</s0>
<s5>11</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Force réaction</s0>
<s5>12</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Reaction force</s0>
<s5>12</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Fuerza reacción</s0>
<s5>12</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Bilatéral</s0>
<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Bilateral</s0>
<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Bilateral</s0>
<s5>13</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Sensation</s0>
<s5>14</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Sensation</s0>
<s5>14</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Sensación</s0>
<s5>14</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Synthèse commande</s0>
<s5>15</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Control synthesis</s0>
<s5>15</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Síntesis control</s0>
<s5>15</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Analyse modale</s0>
<s5>16</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Modal analysis</s0>
<s5>16</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Análisis modal</s0>
<s5>16</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Facteur échelle</s0>
<s5>17</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Scale factor</s0>
<s5>17</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Factor escala</s0>
<s5>17</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Supraconducteur haute température</s0>
<s5>22</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>High temperature superconductor</s0>
<s5>22</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Supraconductor alta temperatura</s0>
<s5>22</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Echange commercial</s0>
<s5>31</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Trade</s0>
<s5>31</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Intercambio comercial</s0>
<s5>31</s5>
</fC03>
<fC03 i1="20" i2="3" l="FRE"><s0>Marché électricité</s0>
<s5>32</s5>
</fC03>
<fC03 i1="20" i2="3" l="ENG"><s0>Power markets</s0>
<s5>32</s5>
</fC03>
<fC03 i1="21" i2="3" l="FRE"><s0>Economie réseau électrique</s0>
<s5>33</s5>
</fC03>
<fC03 i1="21" i2="3" l="ENG"><s0>Power system economics</s0>
<s5>33</s5>
</fC03>
<fN21><s1>247</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 06-0370676 INIST</NO>
<ET>A realization of haptic training system by multilateral control</ET>
<AU>KATSURA (Seiichiro); OHNISHI (Kouhei)</AU>
<AF>Department of System Design Engineering, Keio University/Yokohama/Japon (1 aut., 2 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE Industial Electronics Society. Annual conference/30/2004-11-02/Busan KOR; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Vol3, 2768-2773; ISBN 0-7803-8730-9</SO>
<LA>Anglais</LA>
<EA>In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.</EA>
<CC>001D05D06; 001D02D06; 001D05I01H</CC>
<FD>Sensibilité tactile; Didacticiel; Système commande; Accord multilatéral; Application médicale; Système intégré; Conception intégrée; Conception ingénierie; Conception système; Robotique; Robot; Force réaction; Bilatéral; Sensation; Synthèse commande; Analyse modale; Facteur échelle; Supraconducteur haute température; Echange commercial; Marché électricité; Economie réseau électrique</FD>
<ED>Tactile sensitivity; Educational software program; Control system; Multilateral agreements; Medical application; Integrated system; Integrated design; Engineering design; System design; Robotics; Robot; Reaction force; Bilateral; Sensation; Control synthesis; Modal analysis; Scale factor; High temperature superconductor; Trade; Power markets; Power system economics</ED>
<SD>Sensibilidad tactil; Programa didactico; Sistema control; Aplicación medical; Sistema integrado; Concepción integrada; Concepción ingeniería; Concepción sistema; Robótica; Robot; Fuerza reacción; Bilateral; Sensación; Síntesis control; Análisis modal; Factor escala; Supraconductor alta temperatura; Intercambio comercial</SD>
<LO>INIST-Y 38722.354000138724385010</LO>
<ID>06-0370676</ID>
</server>
</inist>
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A realization of haptic training system by multilateral control

A realization of haptic training system by multilateral control

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