Development of Anthropomorphic Multi-D.O.F. Master-Slave Arm for Mutual Telexistence

Tadakuma, Riichiro; Asahara, Yoshiaki; Kajimoto, Hiroyuki; Kawakami, Naoki; Tachi, Susumu

doi:10.1109/tvcg.2005.99

Cited by 49 publications

(9 citation statements)

References 9 publications

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“…Although there are telepresence systems that convey the haptic senses, in addition to vision and audio [15], and enable a full existence experience, they require an inordinate amount of resources. Our approach uses innate human abilities in order to achieve telepresence.…”

Section: Related Workmentioning

confidence: 99%

ChameleonMask

Misawa

Rekimoto

2015

Proceedings of the 33rd Annual ACM Conference Extended Abstracts on Human Factors in Computing Systems

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Chameleonmask is a telepresence system that shows a remote user's face on the other user's face. While most telepresence systems have been designed to provide a remote user's existence with a teleoperated robot, the system uses a real human as a surrogate for another remote user. To do this, a surrogate user wears a mask-shaped display that shows a remote user's live face, and a voice channel transmits a remote user's voice. A surrogate user mimics a remote user by following the remote user's directions. This design is based on our hypothesis assuming physical and social telepresence can be embodied by such a surrogate human who imitates the remote user. It also eliminates many difficulties of teleoperated robots wandering in the environment. Our pilot study confirmed that people could regard the masked person as a right person.

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Section: Related Workmentioning

confidence: 99%

ChameleonMask

Misawa

Rekimoto

2015

Proceedings of the 33rd Annual ACM Conference Extended Abstracts on Human Factors in Computing Systems

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“…The line of master-slave robot systems (TELESAR I and TELESAR II) was successfully developed in our laboratory [6]. The performance and stability of teleoperation were gradually improved.…”

Section: Intelligent Variable Joint Impedance Control and Developmentmentioning

confidence: 99%

Intelligent Variable Joint Impedance Control and Development of a New Whole-Sensitive Anthropomorphic Robot Arm

Tsetserukou

Tadakuma

Kajimoto

et al. 2007

2007 International Symposium on Computational Intelligence in Robotics and Automation

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The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the arm with an object occurs, local impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. A novel variable control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. In the paper, we detail the design procedure of 4-DOF robot arm and optical torque sensors. The experimental results of variable joint impedance control show that proposed approach not only provides safe interaction of entire structure of robot arm with a person, but also improves the effectiveness of contact task performance, enables thus to contact with environment in a delicate manner.

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“…The study on master-slave systems has become more important for theoretical and practical points in many fields, including communication, mechanical systems, robotics, chemical reactions, and biological systems [1][2][3][4][5][6][7][8][9]. Ever since the discovery of Christian Huygens in 1665 on the synchronization of two pendulum clocks [10], synchronization has received considerable attention for a long time as a typical collective behavior and a basic motion in nature with potential applications in many different areas including secure communication, chaos generators design, chemical reactions, biological systems, and information science [11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26].…”

Section: Introductionmentioning

confidence: 99%

Robust Exponential Synchronization for a Class of Master-Slave Distributed Parameter Systems with Spatially Variable Coefficients and Nonlinear Perturbation

Yang

Qiu

et al. 2015

Mathematical Problems in Engineering

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This paper addresses the exponential synchronization problem of a class of master-slave distributed parameter systems (DPSs) with spatially variable coefficients and spatiotemporally variable nonlinear perturbation, modeled by a couple of semilinear parabolic partial differential equations (PDEs). With a locally Lipschitz constraint, the perturbation is a continuous function of time, space, and system state. Firstly, a sufficient condition for the robust exponential synchronization of the unforced semilinear master-slave PDE systems is investigated for all admissible nonlinear perturbations. Secondly, a robust distributed proportional-spatial derivative (P-sD) state feedback controller is desired such that the closed-loop master-slave PDE systems achieve exponential synchronization. Using Lyapunov’s direct method and the technique of integration by parts, the main results of this paper are presented in terms of spatial differential linear matrix inequalities (SDLMIs). Finally, two numerical examples are provided to show the effectiveness of the proposed methods applied to the robust exponential synchronization problem of master-slave PDE systems with nonlinear perturbation.

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Development of Anthropomorphic Multi-D.O.F. Master-Slave Arm for Mutual Telexistence

Cited by 49 publications

References 9 publications

ChameleonMask

ChameleonMask

Intelligent Variable Joint Impedance Control and Development of a New Whole-Sensitive Anthropomorphic Robot Arm

Robust Exponential Synchronization for a Class of Master-Slave Distributed Parameter Systems with Spatially Variable Coefficients and Nonlinear Perturbation

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