Roughness feeling telepresence system on the basis of real-time estimation of surface wavelengths

Shogo Okamoto, Masashi Konyo, Takashi Maeno, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Tactile telepresence has been expected to be technology which encourages operators of robotic systems to remotely maneuver objects or recognize materials being touched through robotic arms. In remote environments, temporal disparity in tactile sensations is caused by temporal latency between a touch motion of the operator and a tactile stimulus applied on him. A framework of tactile telepresence systems, which is suitable in remote environments, has been proposed in the present paper. In the framework, a tactile display locally generates the tactile stimulus in synchronization with the touch motion of the operator in order to cancel communication delay. The tactile stimulus is generated by combining the motion and tactile factors, which are sensed by a tactile sensor. The factors are characteristic parameters of objects and effect on tactile sensations. In the present paper, physical parameters of the objects are selected as the factors because the tactile stimuli can be computed using physical models involving the motions and the parameters. Based on the proposed framework, a roughness feeling telepresence system was implemented and successfully transferred a roughness factor to the operator.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages2698-2703
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Roughness feeling telepresence system on the basis of real-time estimation of surface wavelengths'. Together they form a unique fingerprint.

  • Cite this

    Okamoto, S., Konyo, M., Maeno, T., & Tadokoro, S. (2007). Roughness feeling telepresence system on the basis of real-time estimation of surface wavelengths. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 2698-2703). [4399204] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399204