Study on Multilateral Telecontrol and Its Application to Force Shared Mouse

• Project/Area Number: 24360090
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Toyohashi University of Technology
• Principal Investigator: MIYOSHI Takanori 豊橋技術科学大学, 工学(系)研究科(研究院), 准教授 (10345952)
• Co-Investigator(Kenkyū-buntansha): TERASHIMA Kazuhiko 豊橋技術科学, 大学工学研究科, 教授 (60159043) ; IMAMURA Takashi 新潟大学, 大学工学研究科, 准教授 (10422809) ; KANESHIGE Akihiro 豊田工業高等専門学校, 機械工学科, 教授 (70224615) ; KAWATA Masakatsu 舞鶴工業高等専門学校, 電子制御工学科, 教授 (90311042) ; KAWAI Yasunori 石川工業高等専門学校, 電気工学科, 准教授 (90413765) ; SAWAGUCHI Yoshito 木更津工業高等専門学校, 電子制御工学科, 助教 (50455119) ; OYAMA Shinya 函館工業高等専門学校, 情報工学科, 助教 (50435385) ; UCHIBORI Akihiko 宇部工業高等専門学校, 機械工学科, 准教授 (60304490)
• Co-Investigator(Renkei-kenkyūsha): OKADA Michio 豊橋技術科学, 大学工学研究科, 教授 (50374096)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥18,850,000 (Direct Cost: ¥14,500,000、Indirect Cost: ¥4,350,000); Fiscal Year 2014: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000); Fiscal Year 2013: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000); Fiscal Year 2012: ¥10,530,000 (Direct Cost: ¥8,100,000、Indirect Cost: ¥2,430,000)
• Keywords: バイラテラル遠隔制御 / マルチラテラル遠隔制御 / 力制御 / ハプティックス / 力覚制御 / 国際情報交換(アメリカ，ドイツ） / 力覚共有 / 機械力学・制御 / 制御工学 / 電子機器工学 / 遠隔制御 / マルチラテラル / ハプティック

Outline of Final Research Achievements

In this study, we achieved that the PC user of all over the world shared force sense each other by using 2 axis system similar to the mouse. Moreover, we proved a lot of an axis mechanism by which many operators could share sense of force via the Internet.
This was because we made force information concentrate on one server, and position information deliver to the each operational person. Furthermore, we proved the stability of the multilateral communication theory in spite of communication delay.

Research Products

• [Journal Article] Medical Round Robot－Terapio－ (2014)
  • Author(s): K. Terashima, S. Takenoshita, J. Miura, R. Tasaki, M. Kitazaki, R. Saegusa, T. Miyoshi, N. Uchiyama, S. Sano, J. Satake, R. Ohmura, T. Fukushima, K. Kakihara, H. Kawamura and M. Takahashi
  • Journal Title: Journal of Robotics and Mechatronics Volume: 26(1) Pages: 112-114
  • Peer Reviewed
• [Journal Article] マルチラテラル遠隔制御理論に基づくハプティックネットワークゲームの作成と通信遅延がQoEに及ぼす影響の調査 (2014)
  • Author(s): 三好孝典，前田慶博，森田陽介，石橋豊，寺嶋一彦
  • Journal Title: 日本バーチャルリアリティ学会論文誌 Volume: 19(4) Pages: 559-569
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] 高専-技科大間における遠隔制御実験と出前授業プロジェクト (2012)
  • Author(s): 三好孝典, 今村孝
  • Journal Title: システム制御情報学会誌 Volume: vol.56 No. 11 Pages: 569-574
• [Journal Article] Bilateral Telemanipulation with a Humanoid Robot Hand/Arm between USA and Japan (2012)
  • Author(s): 美間康平, 本田誠, 三好孝典, 今村孝, 岡部正幸, 寺嶋一彦
  • Journal Title: IAS-12 (The 12th International Conference on Intelligent Autonomous System) Volume: T2C-S. 1 Pages: 1-4
  • Peer Reviewed
• [Presentation] The Recipe to Realize One Billion People's Tug of War (2014)
  • Author(s): Takanori Miyoshi
  • Organizer: The 13th Annual Workshop on Network and Systems Support for Games (NetGames 2014)
  • Place of Presentation: Nagoya
  • Year and Date: 2014-12-04 – 2014-12-05
  • Invited
• [Presentation] Experiment of Virtual Tug-of-war via Internet with Multilateral Telecontrol (2014)
  • Author(s): Takanori Miyoshi, Takashi Imamura, Shinya Oyama, Yuzuru Ohba, Tomoyasu Ichimura, Yoshihito Sawaguchi, Hideo Kitagawa, Yusuke Aoki, Akihiro Kaneshige, Satoshi Ueki, Yasunori Kawai, Toru Saitoh, Yuichi Takaku, Yasushi Kami, Masakatsu Kawata, Akihiko Uchibori, Kazuhiko Terashima
  • Organizer: The 13th Annual Workshop on Network and Systems Support for Games (NetGames 2014)
  • Place of Presentation: Nagoya
  • Year and Date: 2014-12-04 – 2014-12-05
• [Presentation] Development of Handshake Gadget and Exhibition in Niconico Chokaigi (2014)
  • Author(s): Takanori Miyoshi, Yuki Ueno, Kouki Kawase, Yusaku Matsuda, Yuya Ogawa, Kento Takemori, Kazuhiko Terashima
  • Organizer: Asia Haptics 2014
  • Place of Presentation: Tsukuba
  • Year and Date: 2014-11-18 – 2014-11-20
• [Presentation] Estimation Method of Operating Force using an Extended Kalman Filter Based on Ground Reaction Force and Human Behavior (2014)
  • Author(s): Taishi Noro, Yusuke Katsuda, Takanori Miyoshi and Kazuhiko Terashima
  • Organizer: 25th 2014 International Symposium on Micro-NanoMechatronics and Human Science(MHS2014)
  • Place of Presentation: Nagoya
  • Year and Date: 2014-11-09 – 2014-11-12
• [Presentation] Modeling and Taylormade Training Method Using Neural Network for Specific Muscle of the Upper Limb (2014)
  • Author(s): Kazuhiko Terashima, Takanori Miyoshi, Kenta Itokazu, Yuki Ueno, Daisuke Watanabe
  • Organizer: 14th International Conference on Control, Automation and Systems (ICCAS2014)
  • Place of Presentation: Seoul, KOREA
  • Year and Date: 2014-10-22 – 2014-10-25
• [Presentation] A robot-mediated Information guide system (2014)
  • Author(s): Saegusa, R., Mamiya, S., Koiwa, Y., Itokazu, K., Igari, S., Shigematsu, K., Yamashita, T., Sano, S., Fukumura, N., Uchiyama, N., Miyoshi, T., Terashima, K., Miura, J.
  • Organizer: The 2014 IEEE International Conference on Systems, Man and Cybernetics (SMC2014)
  • Place of Presentation: San Diego, USA
  • Year and Date: 2014-10-05 – 2014-10-08
• [Presentation] An Experiments on Improving Tracking Performance in Multilateral Teleoperation Using Wave Filter (2014)
  • Author(s): Yasunori Kawai, Tokio Yoshino, Takanori Miyoshi
  • Organizer: SICE Annual Conference 2014
  • Place of Presentation: Sapporo
  • Year and Date: 2014-09-12 – 2014-09-14
• [Presentation] A Design of the Tele-operation Control System for Liquid Container Transfer by an Overhead Traveling Crane (2014)
  • Author(s): Kaneshige Akihiro, Kawasaki Yudai, Ueki Satoshi, Miyosi Takanori, Terashima Kazuhiko
  • Organizer: REV2014
  • Place of Presentation: Portugal
• [Presentation] マルチラテラル制御を応用したコミュニケーションツールの開発 (2013)
  • Author(s): 小川裕也, 森田陽介, 三好孝典, 寺嶋一彦
  • Organizer: 第18回ロボティクスシンポジア
  • Place of Presentation: 山形県上山市
  • Year and Date: 2013-03-15
• [Presentation] Design Method for Multilateral Tele-Control to Realize Shared Haptic Mouse (2013)
  • Author(s): Yosuke Morita, Yuya Ogawa, Yasunori Kawai, Takashi Imamura, Takanori Miyoshi, Kazuhiko Terashima
  • Organizer: SICE Annual Conference 2013
  • Place of Presentation: Nagoya
• [Presentation] Design Method of Multilateral Tele-Control for Multi-Client and Multi-Coupled Physical Model Server (2013)
  • Author(s): Takanori Miyoshi, Kazuhiko Terashima, Takashi Imamura
  • Organizer: 2013 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO2013）
  • Place of Presentation: Tokyo
• [Presentation] 高専-豊橋技科大間における遠隔制御システムを用いた体験型授業の実施 (2012)
  • Author(s): 柴田悠次, 松崎貴大, 美間康平, 今村孝, 三好孝典, 小山慎哉, 大場譲, 市村智康, 沢口義人, 河合康典, 川田昌克, 北川秀夫, 兼重明宏, 内堀晃彦, 西山英治, 寺嶋一彦
  • Organizer: 日本ロボット学会第30回記念学術講演会
  • Place of Presentation: 札幌市
  • Year and Date: 2012-09-20
• [Remarks] 高専－技科大間における遠隔制御の研究ネットワーク構築と試験運用・実験
  • URL: http://www.syscon.me.tut.ac.jp/nct_partnership/index.htm
• [Remarks] 高専-技科大間における遠隔制御の研究ネットワーク構築と試験運用・実験
  • URL: http://www.syscon.me.tut.ac.jp/nct_partnership/index.htm
• [Remarks]
  • URL: http://www.syscon.me.tut.ac.jp/nct_partnership/index.htm
• [Patent(Industrial Property Rights)] 制御装置および制御方法 (2013)
  • Inventor(s): 三好孝典, 今村孝
  • Industrial Property Rights Holder: 国立大学法人豊橋技術科学大学
  • Filing Date: 2013-03-13