An Investigation on Stability and Operability in Haptic Communication Systems
Abstract— In the remote robot systems using haptic communication under communication delays, there is a problem of instability of operations or behaviors such as mechanical howling. For solving the problem, we have introduced a method using “resistance” which is proportion to the velocity and investigated the theoretical method to analyze the mechanism by using difference differential equations. In our previous theoretical research, we have clarified that the resistance has the effect to decrease the mechanical howling but it degrades the operability of the action to approach to the target position. These results suggest that the minimum resistance which does not cause the mechanical howling is the optimal resistance value which keeps the operability of the target approaching action high as much as possible. This study investigates the feasibility of this method by experiment and theoretical analysis.
Index Terms— Haptic communication; Communication delay; Stability; Operability; Resistance; Difference differential equation; Human characteristics
Tokyo University of Science, JAPAN
Seijoh University, JAPAN
Nagoya Institute of Technology, JAPAN
Cite: Hitoshi Watanabe, Pingguo Huang, Yutaka Ishibashi, "An Investigation on Stability and Operability in Haptic Communication Systems," Proceedings of 2020 the 10th International Workshop on Computer Science and Engineering (WCSE 2020), pp. 114-121, Yangon (Rangoon), Myanmar (Burma), February 26-28, 2020.