Bilateral Control in the Vertical Direction Using Functional Electrical Stimulation

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2016/09/01

タイトル(英語): Bilateral Control in the Vertical Direction Using Functional Electrical Stimulation

著者名: Tomoya Kitamura (Graduate School of Science and Engineering, Saitama University), Naoto Mizukami (Graduate School of Science and Engineering, Saitama University), Hiroto Mizoguchi (Graduate School of Science and Engineering, Saitama University), Sho Sakai

著者名(英語): Tomoya Kitamura (Graduate School of Science and Engineering, Saitama University), Naoto Mizukami (Graduate School of Science and Engineering, Saitama University), Hiroto Mizoguchi (Graduate School of Science and Engineering, Saitama University), Sho Sakaino (Graduate School of Science and Engineering, Saitama University), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University)

キーワード: bilateral control，functional electrical stimulation，teleoperation，dexterous manipulators

要約(英語): In this study, we investigated bilateral control in the vertical direction using functional electrical stimulation (FES). Bilateral control is a remote operation technique that incorporates force feedback. This technology has potential applications in everyday life, including allowing medical doctors to make diagnoses or friends to communicate using tactile sensations when far apart. However, current iterations of this technology require robot arms to be worn. This is undesirable as such arms are heavy, and arms with multi degree-of-freedom are difficult to produce. To address these problems, we investigated bilateral control using FES. However, in previous studies, which applied FES to bilateral control, control in the vertical direction and the effect of reaction forces were not investigated. In this study, we verified that vertical control is achievable. First, the movements of a human operator were shown to follow those of another operator in the vertical direction, demonstrating that vertical bilateral control using FES is effective. We next investigated whether an operator could recognize when the partner was holding a weight. This experiment demonstrated that the operator was able to recognize the presence or absence of the weight in the hand of the partner. However, shaking was observed in the arms of the master and slave. We believe that this problem can be eliminated by estimating the reaction forces of arms.

本誌: IEEJ Journal of Industry Applications Vol.5 No.5 （2016）

本誌掲載ページ: 398-404 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/5/5/5_398/_article/-char/ja/