Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics

Tomotaka Itoh; Akitaka Ando; Fumiyoshi Omura; Takashi Matsui; Kazuhiro Kosuge; Toshio Fukuda

doi:10.20965/jrm.2000.p0135

Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics

Tomotaka Itoh
, Akitaka Ando
, Fumiyoshi Omura
, Takashi Matsui
, Kazuhiro Kosuge
, Toshio Fukuda

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

2 Citations (Scopus)

Abstract

This paper proposes an alternative control algorithm for a istemanipulator based on the extended virtual tool <ţy¿£amics. In this algorithm, the system is controlled so îibat it has the extended virtual tool dynamics which & designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The mąjor contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system. © Fuji Technology Press Ltd.

Original language	English
Pages (from-to)	135-143
Journal	Journal of Robotics and Mechatronics
Volume	12
Issue number	2
DOIs	https://doi.org/10.20965/jrm.2000.p0135
Publication status	Published - 1 Apr 2000
Externally published	Yes

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

Research Keywords

Control
Extended virtual tool
Human-machine cooperation
Passivity
Robot
Telemanipulation

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title = "Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics",

abstract = "This paper proposes an alternative control algorithm for a istemanipulator based on the extended virtual tool <{\c t}y¿£amics. In this algorithm, the system is controlled so {\^i}ibat it has the extended virtual tool dynamics which \& designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The m{\c a}jor contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system. {\textcopyright} Fuji Technology Press Ltd.",

keywords = "Control, Extended virtual tool, Human-machine cooperation, Passivity, Robot, Telemanipulation",

author = "Tomotaka Itoh and Akitaka Ando and Fumiyoshi Omura and Takashi Matsui and Kazuhiro Kosuge and Toshio Fukuda",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].",

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month = apr,

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doi = "10.20965/jrm.2000.p0135",

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TY - JOUR

T1 - Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics

AU - Itoh, Tomotaka

AU - Ando, Akitaka

AU - Omura, Fumiyoshi

AU - Matsui, Takashi

AU - Kosuge, Kazuhiro

AU - Fukuda, Toshio

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2000/4/1

Y1 - 2000/4/1

N2 - This paper proposes an alternative control algorithm for a istemanipulator based on the extended virtual tool <ţy¿£amics. In this algorithm, the system is controlled so îibat it has the extended virtual tool dynamics which & designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The mąjor contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system. © Fuji Technology Press Ltd.

AB - This paper proposes an alternative control algorithm for a istemanipulator based on the extended virtual tool <ţy¿£amics. In this algorithm, the system is controlled so îibat it has the extended virtual tool dynamics which & designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The mąjor contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system. © Fuji Technology Press Ltd.

KW - Control

KW - Extended virtual tool

KW - Human-machine cooperation

KW - Passivity

KW - Robot

KW - Telemanipulation

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U2 - 10.20965/jrm.2000.p0135

DO - 10.20965/jrm.2000.p0135

M3 - RGC 21 - Publication in refereed journal

SN - 0915-3942

VL - 12

SP - 135

EP - 143

JO - Journal of Robotics and Mechatronics

JF - Journal of Robotics and Mechatronics

IS - 2

ER -

Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics

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Research Keywords

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