官能評価に基づく機能モードごとの通信遅延補償設計法

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2015/07/01

タイトル(英語): Designing Time Delay Compensation Methods for Functional Modes Using Sensory Evaluation

著者名: 清水　就平（慶応義塾大学理工学部システムデザイン工学科），大野　嘉紀（慶応義塾大学理工学部システムデザイン工学科），野崎　貴裕（横浜国立大学），大西　公平（慶応義塾大学理工学部システムデザイン工学科）

著者名(英語): Shuhei Shimizu (Department of System Design Engineering, Keio University), Yoshiki Ohno (Department of System Design Engineering, Keio University), Takahiro Nozaki (Yokohama National University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

キーワード: ハプティクス，バイラテラル制御，機能モード，官能評価，通信遅延補償　　haptics，bilateral control，functional mode，sensory evaluation，time delay compensation

要約(英語): Time delay deteriorates bilateral control performance. Although many time delay compensation methods have been proposed, there is no clear index for selecting which compensation method should be used. Furthermore, such indices become even more necessary in systems with multiple degrees-of-freedom, as performance requirements differ for each functional mode according to the human sense that is evaluated. Therefore, in this paper, an indexing and design method for functional modes using sensory evaluation to select appropriate compensation methods is proposed. The experimental results demonstrate the validity of this proposal.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.7 （2015）

本誌掲載ページ: 755-764 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/135/7/135_755/_article/-char/ja/