Development of anthropomorphic multi-D.O.F master-slave arm for mutual telexistence
We developed a robotic arm for a master-slave system to support "mutual telexistence", which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master...
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| Veröffentlicht in: | IEEE transactions on visualization and computer graphics 2005-11, Vol.11 (6), p.626-636 |
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| container_title | IEEE transactions on visualization and computer graphics |
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| creator | Tadakuma, R. Asahara, Y. Kajimoto, H. Kawakami, N. Tachi, S. |
| description | We developed a robotic arm for a master-slave system to support "mutual telexistence", which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operator's arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system. |
| doi_str_mv | 10.1109/TVCG.2005.99 |
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In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operator's arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system.</description><identifier>ISSN: 1077-2626</identifier><identifier>EISSN: 1941-0506</identifier><identifier>DOI: 10.1109/TVCG.2005.99</identifier><identifier>PMID: 16270856</identifier><identifier>CODEN: ITVGEA</identifier><language>eng</language><publisher>United States: IEEE</publisher><subject>Anthropomorphism ; Arm ; Arm - physiology ; bilateral impedance control ; Biomimetic Materials ; Bionics - instrumentation ; Bionics - methods ; Communication system control ; Communication systems ; Computer Simulation ; Control systems ; Cybernetics - instrumentation ; Cybernetics - methods ; Environment ; Equipment Design ; Equipment Failure Analysis ; Feasibility ; force feedback ; Humanoid robots ; Humans ; Impedance ; Index Terms- Telexistence ; Joints - physiology ; Man-Machine Systems ; Master-slave ; Models, Biological ; Orbital robotics ; Placing ; Robot sensing systems ; Robotics - instrumentation ; Robotics - methods ; Robots ; Service robots ; Specifications ; Tasks ; User-Computer Interface ; virtual reality</subject><ispartof>IEEE transactions on visualization and computer graphics, 2005-11, Vol.11 (6), p.626-636</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2005</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c509t-7e1f1f60269715c7576f5249404c8a4b2d40bde019699d11d174ac6ec884263f3</citedby><cites>FETCH-LOGICAL-c509t-7e1f1f60269715c7576f5249404c8a4b2d40bde019699d11d174ac6ec884263f3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1512014$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1512014$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/16270856$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Tadakuma, R.</creatorcontrib><creatorcontrib>Asahara, Y.</creatorcontrib><creatorcontrib>Kajimoto, H.</creatorcontrib><creatorcontrib>Kawakami, N.</creatorcontrib><creatorcontrib>Tachi, S.</creatorcontrib><title>Development of anthropomorphic multi-D.O.F master-slave arm for mutual telexistence</title><title>IEEE transactions on visualization and computer graphics</title><addtitle>TVCG</addtitle><addtitle>IEEE Trans Vis Comput Graph</addtitle><description>We developed a robotic arm for a master-slave system to support "mutual telexistence", which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operator's arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system.</description><subject>Anthropomorphism</subject><subject>Arm</subject><subject>Arm - physiology</subject><subject>bilateral impedance control</subject><subject>Biomimetic Materials</subject><subject>Bionics - instrumentation</subject><subject>Bionics - methods</subject><subject>Communication system control</subject><subject>Communication systems</subject><subject>Computer Simulation</subject><subject>Control systems</subject><subject>Cybernetics - instrumentation</subject><subject>Cybernetics - methods</subject><subject>Environment</subject><subject>Equipment Design</subject><subject>Equipment Failure Analysis</subject><subject>Feasibility</subject><subject>force feedback</subject><subject>Humanoid robots</subject><subject>Humans</subject><subject>Impedance</subject><subject>Index Terms- Telexistence</subject><subject>Joints - physiology</subject><subject>Man-Machine Systems</subject><subject>Master-slave</subject><subject>Models, Biological</subject><subject>Orbital robotics</subject><subject>Placing</subject><subject>Robot sensing systems</subject><subject>Robotics - instrumentation</subject><subject>Robotics - methods</subject><subject>Robots</subject><subject>Service robots</subject><subject>Specifications</subject><subject>Tasks</subject><subject>User-Computer Interface</subject><subject>virtual reality</subject><issn>1077-2626</issn><issn>1941-0506</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2005</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><sourceid>EIF</sourceid><recordid>eNqF0c9L3UAQB_CltFSrvXkrlODBXkw6u9mfR3lWLQgetL0u-zYTjCTZdDeR-t-7j_dA8KCnGZgPMwxfQo4oVJSC-Xn3d3VZMQBRGfOB7FPDaQkC5Mfcg1Ilk0zukS8pPQBQzrX5TPaoZAq0kPvk9hwfsQ_TgONchLZw43wfwxSGEKf7zhfD0s9deV7dVBfF4NKMsUy9e8TCxaFoQ8xgXlxfzNjj_y7PR4-H5FPr-oRfd_WA_Ln4dbe6Kq9vLn-vzq5LL8DMpULa0lYCk0ZR4ZVQshWMGw7ca8fXrOGwbhCokcY0lDZUcecleq05k3VbH5Af271TDP8WTLMduuSx792IYUlWG8m4AEGzPHlTSq1kvm_ehUwDcMUgw-NX8CEscczvWi1VbWqtVUanW-RjSClia6fYDS4-WQp2E57dhGc34VmzOf59t3NZD9i84F1aGXzbgg4RX8aCspxs_QykkpuB</recordid><startdate>20051101</startdate><enddate>20051101</enddate><creator>Tadakuma, R.</creator><creator>Asahara, Y.</creator><creator>Kajimoto, H.</creator><creator>Kawakami, N.</creator><creator>Tachi, S.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>CGR</scope><scope>CUY</scope><scope>CVF</scope><scope>ECM</scope><scope>EIF</scope><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><scope>F28</scope><scope>FR3</scope></search><sort><creationdate>20051101</creationdate><title>Development of anthropomorphic multi-D.O.F master-slave arm for mutual telexistence</title><author>Tadakuma, R. ; Asahara, Y. ; Kajimoto, H. ; Kawakami, N. ; Tachi, S.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c509t-7e1f1f60269715c7576f5249404c8a4b2d40bde019699d11d174ac6ec884263f3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Anthropomorphism</topic><topic>Arm</topic><topic>Arm - physiology</topic><topic>bilateral impedance control</topic><topic>Biomimetic Materials</topic><topic>Bionics - instrumentation</topic><topic>Bionics - methods</topic><topic>Communication system control</topic><topic>Communication systems</topic><topic>Computer Simulation</topic><topic>Control systems</topic><topic>Cybernetics - instrumentation</topic><topic>Cybernetics - methods</topic><topic>Environment</topic><topic>Equipment Design</topic><topic>Equipment Failure Analysis</topic><topic>Feasibility</topic><topic>force feedback</topic><topic>Humanoid robots</topic><topic>Humans</topic><topic>Impedance</topic><topic>Index Terms- Telexistence</topic><topic>Joints - physiology</topic><topic>Man-Machine Systems</topic><topic>Master-slave</topic><topic>Models, Biological</topic><topic>Orbital robotics</topic><topic>Placing</topic><topic>Robot sensing systems</topic><topic>Robotics - instrumentation</topic><topic>Robotics - methods</topic><topic>Robots</topic><topic>Service robots</topic><topic>Specifications</topic><topic>Tasks</topic><topic>User-Computer Interface</topic><topic>virtual reality</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Tadakuma, R.</creatorcontrib><creatorcontrib>Asahara, Y.</creatorcontrib><creatorcontrib>Kajimoto, H.</creatorcontrib><creatorcontrib>Kawakami, N.</creatorcontrib><creatorcontrib>Tachi, S.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005–Present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998–Present</collection><collection>IEEE/IET Electronic Library</collection><collection>Medline</collection><collection>MEDLINE</collection><collection>MEDLINE (Ovid)</collection><collection>MEDLINE</collection><collection>MEDLINE</collection><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><jtitle>IEEE transactions on visualization and computer graphics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Tadakuma, R.</au><au>Asahara, Y.</au><au>Kajimoto, H.</au><au>Kawakami, N.</au><au>Tachi, S.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Development of anthropomorphic multi-D.O.F master-slave arm for mutual telexistence</atitle><jtitle>IEEE transactions on visualization and computer graphics</jtitle><stitle>TVCG</stitle><addtitle>IEEE Trans Vis Comput Graph</addtitle><date>2005-11-01</date><risdate>2005</risdate><volume>11</volume><issue>6</issue><spage>626</spage><epage>636</epage><pages>626-636</pages><issn>1077-2626</issn><eissn>1941-0506</eissn><coden>ITVGEA</coden><abstract>We developed a robotic arm for a master-slave system to support "mutual telexistence", which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. 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| subjects | Anthropomorphism Arm Arm - physiology bilateral impedance control Biomimetic Materials Bionics - instrumentation Bionics - methods Communication system control Communication systems Computer Simulation Control systems Cybernetics - instrumentation Cybernetics - methods Environment Equipment Design Equipment Failure Analysis Feasibility force feedback Humanoid robots Humans Impedance Index Terms- Telexistence Joints - physiology Man-Machine Systems Master-slave Models, Biological Orbital robotics Placing Robot sensing systems Robotics - instrumentation Robotics - methods Robots Service robots Specifications Tasks User-Computer Interface virtual reality |
| title | Development of anthropomorphic multi-D.O.F master-slave arm for mutual telexistence |
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