Application of Soft Actuation to Bilateral Control and Haptic Reproduction

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dc.authoridUzunovic, Tarik/0000-0002-7979-7395;
dc.authorwosidUzunovic, Tarik/O-4712-2018
dc.authorwosidAsif, Sabanovic/N-7789-2013
dc.authorwosidBaran, Eray/U-3499-2019
dc.contributor.authorSabanovic, Asif
dc.contributor.authorUzunovic, Tarik
dc.contributor.authorBaran, Eray A.
dc.contributor.authorYokoyama, Minoru
dc.contributor.authorShimono, Tomoyuki
dc.date.accessioned2024-07-18T20:42:23Z
dc.date.available2024-07-18T20:42:23Z
dc.date.issued2022
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description.abstractThe main research topic of this paper is to apply the sliding mode based soft actuation to smooth transition between position, force, and impedance control, and realize bilateral control and reproduction of the haptic motion. The proposed design rests on the sliding mode two steps procedure: in the first step, the generalized error - the sliding mode function - is selected in such a way that a closed loop system exhibits a desired dynamics. In the soft actuation method, the generalized error depends on the position and the force, thus allowing the modification of the position tracking if interaction with the environment appears. In the second step, the control is selected to enforce the desired convergence rate and the stability of the closed loop dynamics. The control allows natural - human-like behavior. The application to the bilateral control and reproduction of the haptic motion is discussed in detail and verified by experiments.en_US
dc.identifier.doi10.1007/s12555-020-0660-x
dc.identifier.endpage1001en_US
dc.identifier.issn1598-6446
dc.identifier.issn2005-4092
dc.identifier.issue3en_US
dc.identifier.scopus2-s2.0-85126189783en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage992en_US
dc.identifier.urihttps://doi.org/10.1007/s12555-020-0660-x
dc.identifier.urihttps://hdl.handle.net/11411/7265
dc.identifier.volume20en_US
dc.identifier.wosWOS:000767788700026en_US
dc.identifier.wosqualityQ2en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInst Control Robotics & Systems, Korean Inst Electrical Engineersen_US
dc.relation.ispartofInternational Journal of Control Automation and Systemsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectBilateral Controlen_US
dc.subjectForce Controlen_US
dc.subjectHaptic Reproductionen_US
dc.subjectMotion Controlen_US
dc.subjectReal-World Hapticsen_US
dc.subjectSliding Modeen_US
dc.subjectPerformance Analysisen_US
dc.subjectMotion Controlen_US
dc.subjectForce Controlen_US
dc.subjectManipulatorsen_US
dc.subjectTeleoperationen_US
dc.titleApplication of Soft Actuation to Bilateral Control and Haptic Reproductionen_US
dc.typeArticleen_US

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