scholarly journals 2A2-A03 Study on Operability Improvement for Master Slave System based on Body Ownership Transfer in RHI : Augmentation of Body Ownership Transfer by introducing Active Touch(Tactile and Force Sensing (2))

2013 ◽  
Vol 2013 (0) ◽  
pp. _2A2-A03_1-_2A2-A03_2
Author(s):  
Jumpei ARATA ◽  
Masashi HATTORI ◽  
Shohei ICHIKAWA ◽  
Masamichi SAKAGUCHI
Keyword(s):  
Active Touch ◽  
Force Sensing ◽  
Body Ownership ◽  
Slave System ◽  
Ownership Transfer ◽  
Master Slave System

A novel manipulation method of human body ownership using an fMRI-compatible master–slave system

2014 ◽  
Vol 235 ◽  
pp. 25-34 ◽  
Author(s):  
Masayuki Hara ◽  
Roy Salomon ◽  
Wietske van der Zwaag ◽  
Tobias Kober ◽  
Giulio Rognini ◽  
...  
Keyword(s):  
Human Body ◽  
Body Ownership ◽  
Slave System ◽  
Master Slave System

Development of 5-DOFs Master-Slave system with intentional adjustment of hysteresis based on antagonistic tendon control

2019 ◽  
Author(s):  
Hansoul Kim ◽  
◽  
Joonhwan Kim ◽  
Minho Hwang ◽  
Dong-Soo Kwon ◽  
...  
Keyword(s):  
Slave System ◽  
Master Slave System

scholarly journals Development of a Hydraulic Parallel Link Force Display -Improvement of Manipulability Using a Disturbance Observer and its Application to a Master-slave System-

2003 ◽  
Vol 15 (4) ◽  
pp. 391-397 ◽  
Author(s):  
Shigeki Kudomi ◽  
◽  
Hironao Yamada ◽  
Takayoshi Muto ◽  
Keyword(s):  
Dynamic Performance ◽  
Load Force ◽  
Slave System ◽  
Disturbance Compensation ◽  
Practical Application ◽  
Hydraulic Cylinders ◽  
Six Dof ◽  
Parallel Link ◽  
Hydraulic Manipulator ◽  
Master Slave System

We previously developed a six-DOF parallel link force display that is actuated by six hydraulic cylinders. The manipulability of the display, however, was insufficient at first, because the dynamic performance of each cylinder was not necessarily the same as that of the others. To overcome this problem, in the present study we have applied disturbance compensation to improve manipulability. To demonstrate a practical application of this force display, we have also constituted a master-slave system in which the display is adopted as the master, and the same type of hydraulic manipulator is adopted as the slave. An operator manipulated the system so that the slave touched a flexible object serving as a load. Our experiments confirmed that the system was controlled with relatively good dynamic performance, and that the operator was able to feel the load force sensitively through the force display.

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