https://orcid.org/0000-0001-8991-6207
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ABSTRACT
This article proposes an index to estimate the operator’s haptic sensation of the contact between the slave device and the environment in operating master–slave systems with force feedback function. The index value is derived from the velocity information of the master device before and after contact, which is hypothesized to represent the intensity of haptic sensation stimuli presented to the operator. Two characteristics of this index are discussed by means of psychophysics experiment, which are the statistical characteristics of the index value for different operators, and how the change in the operator’s haptic sensation is reflected on the index value. The index is validated by another psychophysics experiment. The experimental results show that the performance of operator’s haptic sensation can be predicted correctly based on the proposed index value. This index is expected to be applied in the parameter design of bilateral-control systems with force feedback function.
Acknowledgments
This research did not receive any specific grants from funding agencies in the public, commercial, or not-for-profit sectors.
Additional information
Notes on contributors
Dongbo Zhou
Dongbo Zhou received the ME degree from the University of Tsukuba, Japan, in 2011. He is currently working toward the PhD degree at the Tokyo Institute of Technology. His research interests include haptics and robotics. His current work focuses on the aspects of kinesthetic sensation in master-slave robot systems.
Kotaro Tadano
Kotaro Tadano received Dr. Eng. degrees in mechanical engineering from Tokyo Institute of Technology, Japan, in 2007. He is currently an Associate Professor at Tokyo Institute of Technology. His research interests include robotics, teleoperation, and pneumatic systems. He is a Member of the IEEE Robotics and Automation Society.