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2006
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Improving Telerobotic Touch via High-frequency Acceleration Matching

11 years 7 months ago
Improving Telerobotic Touch via High-frequency Acceleration Matching
— Humans rely on information-laden high-frequency accelerations in addition to quasi-static forces when interacting with objects via a handheld tool. Telerobotic systems have traditionally struggled to portray such contact transients due to closed-loop bandwidth and stability limitations, leaving remote objects feeling soft and undefined. This work seeks to maximize the user’s feel for the environment through the approach of acceleration matching; high-frequency fingertip accelerations are combined with standard low-frequency position feedback without requiring a secondary actuator on the master device. In this method, the natural dynamics of the master are identified offline using frequency-domain techniques, estimating the relationship between commanded motor current and handle acceleration while a user holds the device. During subsequent telerobotic interactions, a high-bandwidth sensor measures accelerations at the slave’s end effector, and the real-time controller re-cre...
Katherine J. Kuchenbecker, Günter Niemeyer
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Katherine J. Kuchenbecker, Günter Niemeyer
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