2011 Fiscal Year Final Research Report

Research on Remote-Space Sharing in Heterogeneous Haptic Networks

Research Project

Project/Area Number	22860055
Research Category	Grant-in-Aid for Research Activity Start-up
Allocation Type	Single-year Grants
Research Field	Power engineering/Power conversion/Electric machinery
Research Institution	Keio University
Principal Investigator	KUBO Ryogo 慶應義塾大学, 理工学部, 助教 (00582199)
Project Period (FY)	2010 – 2011
Keywords	ハプティクス / 遠隔操作 / バイラテラル制御 / マルチラテラル制御 / 制御通信 / ネットワーク化制御 / 通信品質 / むだ時間
Research Abstract	Haptic communication is a fundamental technology to exchange haptic information between master and slave devices. In this research, we designed and evaluated several teleoperation systems with consideration for the enhancement of haptic devices and the diversification of communication networks. We focused on a bilateral control technique for point-to-point teleoperation and a multilateral control technique for point-to-multipoint teleoperation. In addition, we evaluated the effect of time delay on control performance. A cloud-based haptic communication technology and a dependable haptic communication technology to achieve appropriate controller design according to any network conditions were proposed.