TY - GEN
T1 - An investigation on stability and operability in haptic communication systems
AU - Watanabe, Hitoshi
AU - Huang, Pingguo
AU - Ishibashi, Yutaka
N1 - Funding Information:
This work was partly supported by JSPS KAKENHI Grant Number 18K11261.
PY - 2020
Y1 - 2020
N2 - In the remote robot systems using haptic communication under communication delays, there is a problem of instability of operations or behaviors such as mechanical howling. For solving the problem, we have introduced a method using “resistance” which is proportion to the velocity and investigated the theoretical method to analyze the mechanism by using difference differential equations. In our previous theoretical research, we have clarified that the resistance has the effect to decrease the mechanical howling but it degrades the operability of the action to approach to the target position. These results suggest that the minimum resistance which does not cause the mechanical howling is the optimal resistance value which keeps the operability of the target approaching action high as much as possible. This study investigates the feasibility of this method by experiment and theoretical analysis.
AB - In the remote robot systems using haptic communication under communication delays, there is a problem of instability of operations or behaviors such as mechanical howling. For solving the problem, we have introduced a method using “resistance” which is proportion to the velocity and investigated the theoretical method to analyze the mechanism by using difference differential equations. In our previous theoretical research, we have clarified that the resistance has the effect to decrease the mechanical howling but it degrades the operability of the action to approach to the target position. These results suggest that the minimum resistance which does not cause the mechanical howling is the optimal resistance value which keeps the operability of the target approaching action high as much as possible. This study investigates the feasibility of this method by experiment and theoretical analysis.
KW - Communication delay
KW - Difference differential equation
KW - Haptic communication
KW - Human characteristics
KW - Operability
KW - Resistance
KW - Stability
UR - http://www.scopus.com/inward/record.url?scp=85092380172&partnerID=8YFLogxK
U2 - 10.18178/wcse.2020.02.020
DO - 10.18178/wcse.2020.02.020
M3 - Conference contribution
AN - SCOPUS:85092380172
T3 - WCSE 2020: 2020 10th International Workshop on Computer Science and Engineering
SP - 625
EP - 632
BT - WCSE 2020
PB - International Workshop on Computer Science and Engineering (WCSE)
T2 - 2020 10th International Workshop on Computer Science and Engineering, WCSE 2020
Y2 - 19 June 2020 through 21 June 2020
ER -