Sensorless Haptic Force Presentation using Force-Projecting Bilateral Control with Pneumatic Manipulator

• Published in: Proceedings (International Workshop on Advanced Motion Control) pp. 1 - 6
• Main Authors: Monden, Yuki, Haraguchi, Daisuke
• Format: Conference Proceeding
• Language: English
• Published: IEEE 28.02.2024
• Subjects: Bilateral control; Force; Force-projecting type; Friction; Haptic interfaces; Manipulators; Master-follower system; Pneumatic manipulator; Pneumatic systems; Resistance; Robot sensing systems
• ISSN: 1943-6580
• DOI: 10.1109/AMC58169.2024.10505627

Pneumatic manipulators have been used in specific applications such as surgical assist robots and construction machinery operation robots due to their advantages of high power-to-weight ratio, backdrivability, and environmental resistance. Bilateral control is expected to be applied to these pneumatically driven robots for accurate and safe teleoperation. In this study, we applied force-projecting type bilateral control to a I-DoF master-follower experimental system and verified its operability. In the experiment, subjects manipulated the master and were asked to infer the environment installed on the follower side from 3 types of environments with different stiffness by force sensation. The experiment was conducted with both force-reflecting type and force-projecting type bilateral controls. As a result, the percentage of correct responses with the force-projecting type was 28 % higher than that with the force-reflecting type. In particular, there was a 55 % difference in the percentage of correct responses in the environment with the highest stiffness. However, only in the environment with the lowest stiffness, the percentage of correct responses with the force-projecting type was 5 % lower than that with the force-reflecting type.