TY - GEN
T1 - Real-time remote transmission of multiple tactile properties through master-slave robot system
AU - Yamauchi, Takahiro
AU - Okamoto, Shogo
AU - Konyo, Masashi
AU - Hidaka, Yusuke
AU - Maeno, Takashi
AU - Tadokoro, Satoshi
PY - 2010
Y1 - 2010
N2 - Remote transmission of high quality sense of touch requires the representation of multiple tactile properties and compensation of communication delay. We developed a real-time remote transmission system that can deliver multiple tactile properties using a master-slave robot system. First, we assessed what type of tactile properties should be transmitted and how to connect them in real time. Three tactile properties - roughness, friction, and softness - were transmitted on the basis of the real-time estimated physical properties of three main wavelengths, a kinetic friction coefficient, and spring constants, respectively. Tactile stimulations were generated in synchronization with hand exploration at the master side by using local tactile generation models to compensate for communication time delay. The transmission of multiple tactile properties was achieved by the integration and enhancement of our previously reported methods for vibrotactile displays and tactile sensors. A discrimination experiment using different materials showed the feasibility of the total system involving the three tactile properties.
AB - Remote transmission of high quality sense of touch requires the representation of multiple tactile properties and compensation of communication delay. We developed a real-time remote transmission system that can deliver multiple tactile properties using a master-slave robot system. First, we assessed what type of tactile properties should be transmitted and how to connect them in real time. Three tactile properties - roughness, friction, and softness - were transmitted on the basis of the real-time estimated physical properties of three main wavelengths, a kinetic friction coefficient, and spring constants, respectively. Tactile stimulations were generated in synchronization with hand exploration at the master side by using local tactile generation models to compensate for communication time delay. The transmission of multiple tactile properties was achieved by the integration and enhancement of our previously reported methods for vibrotactile displays and tactile sensors. A discrimination experiment using different materials showed the feasibility of the total system involving the three tactile properties.
UR - http://www.scopus.com/inward/record.url?scp=77955790896&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955790896&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509926
DO - 10.1109/ROBOT.2010.5509926
M3 - Conference contribution
AN - SCOPUS:77955790896
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1753
EP - 1760
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -