2-DOF Haptic Feedback Control Stick for Remote Rover Navigation

Tomonori Yamazaki, Sota Shimizu, Rikuta Mazaki, Hokuto Kurihara, Naoki Motoi, Roberto Oboe, Nobuyuki Hasebe, Tomoyuki Miyashita

研究成果: Conference contribution


This paper presents development of a 2DOF haptic feedback control stick for remote control of a two-parallel-wheeled rover. In bilateral control, when dynamics are quite different between a leader and follower devices, e.g., between a linear-slider type of control stick and a wheel with a comparatively large moment of inertia, a force reproduced on the control stick based on external forces applied to the rover's wheel, is disturbed largely. Since the position control forces the control stick's position and the rover's angular velocity to be synchronized, the operator feels not only the reproduced force but also a force by this position control inevitably on the same time. We call this force a restoring force. The restoring force disturbs the operator to feel the reproduced force accurately. But the authors think the restoring force is meaningful for remote navigation of the rover as another haptic information. Thus, in this paper, we developed a 2-DOF haptic control stick, which transfers the reproduced force and the restoring force separately to a slider and a grip, and proposed a control method for achieving this purpose. The control stick was implemented and was performed successfully in verification experiments using the proposed control method. Experimental results were discussed comparing to the former 1-DOF control stick.

ホスト出版物のタイトルIECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
出版ステータスPublished - 2022
イベント48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022 - Brussels, Belgium
継続期間: 2022 10月 172022 10月 20


名前IECON Proceedings (Industrial Electronics Conference)


Conference48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学


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