An investigation on stability and operability in haptic communication systems

Hitoshi Watanabe, Pingguo Huang, Yutaka Ishibashi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationWCSE 2020
Subtitle of host publication2020 10th International Workshop on Computer Science and Engineering
PublisherInternational Workshop on Computer Science and Engineering (WCSE)
Pages625-632
Number of pages8
ISBN (Electronic)9789811447877
DOIs
Publication statusPublished - 2020
Event2020 10th International Workshop on Computer Science and Engineering, WCSE 2020 - Shanghai, China
Duration: 19 Jun 202021 Jun 2020

Publication series

NameWCSE 2020: 2020 10th International Workshop on Computer Science and Engineering

Conference

Conference2020 10th International Workshop on Computer Science and Engineering, WCSE 2020
CountryChina
CityShanghai
Period19/06/2021/06/20

Keywords

  • Communication delay
  • Difference differential equation
  • Haptic communication
  • Human characteristics
  • Operability
  • Resistance
  • Stability

Fingerprint Dive into the research topics of 'An investigation on stability and operability in haptic communication systems'. Together they form a unique fingerprint.

Cite this