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Proposal and Validation of an Index for the Operator’s Haptic Sensitivity in a Master-Slave System

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Intelligent Autonomous Systems 15 (IAS 2018)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 867))

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Abstract

In this paper, the authors propose an index for evaluating the haptic sensitivity of an operator when a slave device contacts the environment during operating a master–slave system. The index is derived from the velocity contrast of the master device before and after contact, which is hypothesized to represent the operator’s sensation of the contact. By means of psychophysics experiment, how the change in the operator’s haptic sensitivity being reflected in the index value is studied. The index is then validated by another psychophysics experiment. The experimental results show that the change of operator’s haptic sensitivity can be represented correctly by the change of index value. This index is expected to be used in the parameter design of bilateral control systems.

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Author information

Authors and Affiliations

  1. Department of Mechano-Micro Engineering, Tokyo Institute of Technology, R2-46, Nagatsutacho 4259, Yokohama, 226-8503, Japan

    Dongbo Zhou

  2. Institute of Innovative Research, Tokyo Institute of Technology, R2-46, Nagatsutacho 4259, Yokohama, 226-8503, Japan

    Kotaro Tadano

Authors
  1. Dongbo Zhou
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  2. Kotaro Tadano
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Corresponding author

Correspondence to Dongbo Zhou .

Editor information

Editors and Affiliations

  1. Baden-Wuerttemberg Cooperative State University, Karlsruhe, Germany

    Marcus Strand

  2. Humanoids and Intelligence Systems Lab, KIT - Karlsruher Institut für Technologie, Karlsruhe, Germany

    Rüdiger Dillmann

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. University of Padua, Padua, Italy

    Stefano Ghidoni

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Zhou, D., Tadano, K. (2019). Proposal and Validation of an Index for the Operator’s Haptic Sensitivity in a Master-Slave System. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_44

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