研究者詳細 - 長谷川　泰久

論文 - 長谷川　泰久

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Intuitive Remote Robotic Nasal Sampling by Orientation Control With Variable RCM in Limited Space 査読有り国際誌

Takeuchi M., Hironaka Y., Aoyama T., Hasegawa Y.

IEEE Transactions on Medical Robotics and Bionics 4 巻 ( 3 ) 頁： 646 - 655 2022年5月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Transactions on Medical Robotics and Bionics

When performing polymerase chain reaction testing, collecting nasopharyngeal swabs from patients is necessary. Hence, the development of a noncontact specimen collection system is desired to avoid the risk of secondary infection from direct contact between the medical personnel and patients. This study aims to develop a master-follower-type remote specimen collection system to achieve infection protection through adequate isolation. A teleoperated robot is used for specimen collection work instead of a human; the teleoperated robot moves remotely, and a cotton swab is grasped and inserted into the nostril by the robot. A remote center of motion (RCM) mechanism was implemented to prevent the cotton swabs from making excessive contact with the nostril during specimen collection. Further, a variable RCM constraint that combines safety and operability is proposed as the conventional RCM control modification. The evaluation results indicated that the variable RCM restraint allowed a quicker and safer collection of specimens than the conventional RCM constraint.

DOI： 10.1109/TMRB.2022.3176100

Human-Following Control of Cane-Type Walking-Aid Robot Within Fixed Relative Posture 国際共著国際誌

Yan Q., Huang J., Yang Z., Hasegawa Y., Fukuda T.

IEEE/ASME Transactions on Mechatronics 27 巻 ( 1 ) 頁： 537 - 548 2022年2月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE/ASME Transactions on Mechatronics

Assisting and supervising daily long-durational walking is very crucial for patients with lower extremity dysfunction, especially in the stage of recovery toward a state of walking independently. However, due to the shortage of caregivers and high cost of nursing, long-term manual assistance and supervision is costly. Thus, in this article, we propose a cane-type walking-aid robot to follow a human user for the safety and supervision of independent walking during rehabilitation training. Strongly motivated by clinical suggestions and user experiences, the human-following rule that the robot should follow the user in the required position within a fixed relative posture (keeping a certain distance in front of the user, 15-20 cm lateral to the healthy side, and 0° to the user's orientation) is established. To guarantee a reliable following, a quantitative human walking intention estimation method is proposed using the on-board laser ranger finder and Kalman filter. To effectively monitor the user's walking, a finite-time control method for the cane robot is also proposed to ensure its human-following performance. Experiments were conducted to demonstrate the effectiveness of the proposed system and methods. The experimental results show that the proposed system can obtain satisfactory performance of human following and can be made available for different users in different walking modes.

DOI： 10.1109/TMECH.2021.3068138

Intelligent Gait Analysis and Evaluation System Based on Cane Robot Open Access

Yan Q., Huang J., Wu D., Yang Z., Wang Y., Hasegawa Y., Fukuda T.

IEEE Transactions on Neural Systems and Rehabilitation Engineering 30 巻頁： 2916 - 2926 2022年

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Transactions on Neural Systems and Rehabilitation Engineering

Gait analysis and evaluation are vital for disease diagnosis and rehabilitation. Current gait analysis technologies require wearable devices or high-resolution vision systems within a limited usage space. To facilitate gait analysis and quantitative walking-ability evaluation in daily environments without using wearable devices, a mobile gait analysis and evaluation system is proposed based on a cane robot. Two laser range finders (LRFs) are mounted to obtain the leg motion data. An effective high-dimensional Takagi-Sugeno-Kang (HTSK) fuzzy system, which is suitable for high-dimensional data by solving the saturation problem caused by softmax function in defuzzification, is proposed to recognize the walking states using only the motion data acquired from LRFs. The gait spatial-temporal parameters are then extracted based on the gait cycle segmented by different walking states. Besides, a quantitative walking-ability evaluation index is proposed in terms of the conventional Tinetti scale. The plantar pressure sensing system records the walking states to label training data sets. Experiments were conducted with seven healthy subjects and four patients. Compared with five classical classification algorithms, the proposed method achieves the average accuracy rate of 96.57%, which is improved more than 10%, compared with conventional Takagi-Sugeno-Kang (TSK) fuzzy system. Compared with the gait parameters extracted by the motion capture system OptiTrack, the average errors of step length and gait cycle are only 0.02 m and 1.23 s, respectively. The comparison between the evaluation results of the robot system and the scores given by the physician also validates that the proposed method can effectively evaluate the walking ability.

DOI： 10.1109/TNSRE.2022.3213823

Supernumerary Robotic Limbs: A Review and Future Outlook 査読有り国際共著

Yang B., Huang J., Chen X., Xiong C., Hasegawa Y.

IEEE Transactions on Medical Robotics and Bionics 3 巻 ( 3 ) 頁： 623 - 639 2021年8月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Transactions on Medical Robotics and Bionics

Wearable robots have become a prevalent method in the field of human augmentation and medical rehabilitation. Typical wearable robots mainly include exoskeletons and prostheses. However, their functions are limited due to dedicated design. In recent years, Supernumerary Robotic Limbs (SRLs) have become a hot spot in the field of wearable robots. Different from exoskeletons and prostheses, SRLs compensate and strengthen human abilities by providing extra limbs. This advantage allows SRLs to assist users in a novel way, rather than substituting missing limbs or enhancing existing limbs. However, finding a trade-off between wearability, efficiency, and usability of those SRLs is still an issue. This paper presents the state of the art in SRLs and discusses some open questions about SRLs’ design and control for further research. This review covers the following areas: (1) Basic concepts and classifications of SRLs; (2) The literature retrieval methodology; (3) Design functions of different types of SRLs, including their positive and negative aspects; (4) Different control strategies of SRLs, including positive and negative aspects, and some improvement methods in applying SRLs; (5) The impact on human body schema while using SRLs; (6) Open challenges and suggestions for future development. This review will help researchers understand the current state of SRLs and provide comprehensive knowledge foundations for them.

DOI： 10.1109/TMRB.2021.3086016

Development of cultured muscles with tendon structures for modular bio-actuators 査読有り国際共著

Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Qiang Huang, Yasuhisa Hasegawa, Toshio Fukuda

Micromachines 12 巻 ( 4 ) 頁： 379 2021年4月

Microinjection System to Enable Real-Time 3D Image Presentation through Focal Position Adjustment

Fujishiro T., Aoyama T., Hano K., Takasu M., Takeuchi M., Hasegawa Y.

IEEE Robotics and Automation Letters 6 巻 ( 2 ) 頁： 4025 - 4031 2021年4月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Robotics and Automation Letters

The microinjection technique, in which DNA is injected into cells, is widely applied in fields such as biology, medicine, and pharmacy. However, the implementation of the microinjection process requires skill and, thus, it is necessary to improve the operability. To this end, this study proposes a microinjection system that improves depth visibility through real-time 3D image presentation. An algorithm to estimate 3D position and size of micro-targets using a focal position adjustment mechanism is implemented to the system. In addition, a calibration method to adjust relative position and orientation between a target object and micromanipulators is developed. Then, the system presents reconstructed 3D images of a target and micromanipulators. Finally, the effectiveness of the proposed system is verified through manipulation experiments involving porcine embryos.

DOI： 10.1109/LRA.2021.3067857

難治性麻痺克服を目指した多チャンネル機能的電気刺激デバイスの開発

徳武克浩, 佐伯総太, 浅見雄太, 栗本秀, 竹内大, 長谷川泰久, 平田仁

日本手外科学会雑誌 38 巻 ( 1 ) 頁： O4 - 03 2021年4月

Optimization-based constrained trajectory generation for robot-assisted stitching in endonasal surgery 査読有り

Colan J., Nakanishi J., Aoyama T., Hasegawa Y.

Robotics 10 巻 ( 1 ) 頁： 1 - 24 2021年2月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Robotics

The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required for precise suturing motion. Recently, robot-assisted surgical systems have been used in laparoscopic surgery with promising results. Although robotic systems can provide enhanced dexterity, robot-assisted suturing is still highly challenging. In this paper, we propose a robot-assisted stitching method based on an online optimization-based trajectory generation for curved needle stitching and a constrained motion planning framework to ensure safe surgical instrument motion. The needle trajectory is generated online by using a sequential convex optimization algorithm subject to stitching kinematic constraints. The constrained motion planner is designed to reduce surrounding damages to the nasal cavity by setting a remote center of motion over the nostril. A dual concurrent inverse kinematics (IK) solver is proposed to achieve convergence of the solution and optimal time execution, in which two constrained IK methods are performed simultaneously; a task-priority based IK and a nonlinear optimization-based IK. We evaluate the performance of the proposed method in a stitching experiment with our surgical robotic system in a robot-assisted mode and an autonomous mode in comparison to the use of a conventional surgical tool. Our results demonstrate a noticeable improvement in the stitching success ratio in the robot-assisted mode and the shortest completion time for the autonomous mode. In addition, the force interaction with the tissue was highly reduced when using the robotic system.

DOI： 10.3390/robotics10010027

実時間三次元画像呈示により奥行き方向の視認性を向上させるマイクロマニピュレーションシステム査読有り

藤城俊希, 青山忠義, 杷野一輝, 高須正規, 竹内大, 長谷川泰久

日本ロボット学会誌 39 巻 ( 5 ) 頁： 467 - 470 2021年

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：一般社団法人日本ロボット学会

<p>This study proposes a micromanipulation system that improves depth visibility through real-time 3D image presentation. A calibration method to adjust relative position and orientation between a target object and micromanipulators is implemented to the system; then the system presents reconstructed 3D images of a target and micromanipulators. The effectiveness of the proposed system is demonstrated through manipulation of an embryo. </p>

DOI： 10.7210/jrsj.39.467

Bidirectional Tether Less Soft Actuator with Expeditious Position Control Mechanism 査読有り国際誌

Unde J., Colan J., Hasegawa Y.

2021 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2021 2021年

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2021 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2021

In this paper, we present a mechanism that can facilitate soft actuator position control, bidirectional actuation, and getting rid of tether/hose. We proposed a simplistic piston pump as a source of actuation fluid for driving fluidic soft actuators instead of the traditional compressor-based approach to establish an expeditious position control for soft actuators. We explored the conceptual design of a bi-directional soft actuator and the piston pump thoroughly and calculated design and operating parameters. Further, deriving the mathematical model for the proposed system in terms of the position of the piston inside the piston pump and the angular position of the soft actuator. Subsequently, we discuss potential applications of the proposed mechanism.

DOI： 10.1109/MHS53471.2021.9767140

Multilayered artificial dura-mater models for a minimally invasive brain surgery simulator Open Access

Takeuchi M., Hayakawa S., Ichikawa A., Hasegawa A., Hasegawa Y., Fukuda T.

Applied Sciences (Switzerland) 10 巻 ( 24 ) 頁： 1 - 14 2020年12月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Applied Sciences (Switzerland)

In this study, new artificial dura-mater models were developed using a multilayered structure of a rubber material (represent an elastic component of a dura-mater) and a fiber sheet (represent fiber component of a dura-mater). The artificial dura-mater models were prepared for use in a brain surgery simulator, especially for transnasal pituitary surgery. The mechanical characteristics of the artificial dura-mater models were tested to check the similarities with porcine dura-mater. Tensile stress, viscoelasticity, and the cutting force generated by microscissors were tested to evaluate the fabricated models. Neurosurgeons also assessed the dura-mater models to evaluate their characteristics. The results indicate that these models made of two different non-woven fiber sheets emulated accurately the actual dura-mater.

DOI： 10.3390/app10249000

Gait modification for improving walking stability of exoskeleton assisted paraplegic patient 査読有り

Li M., Aoyama T., Hasegawa Y.

ROBOMECH Journal 7 巻 ( 1 ) 頁： 1 - 12 2020年12月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：ROBOMECH Journal

The currently available exoskeleton for assisting the paraplegic patient in walking usually adapts a pre-programmed gait that involves the patient following an exoskeleton lead. The system allows the patient to hold a pair of canes in order to keep balance, and does not contribute to keeping balance without the patient’s action. This paper proposes an algorithm based on the zero moment point (ZMP) to modify the gait generated through human walking synergy for paraplegic patients who make use of the exoskeleton system and hold their canes. The proposed ZMP will enable the paraplegic patient to keep balance during walking and also reduce the burden in maintaining balance. First, a pair of cane is used as an interface to control the user’s walking and then, the synergy between legs and canes is used to synchronize the user’s walking intention during the exoskeleton movement. The walking synergy is extracted from the able-bodied subject walking with a pair of canes and analyzed using principal component analysis (PCA). In order to improve the walking stability, the hip joint angle on stance leg during walking was modified based on ZMP. Furthermore, a nonlinear inverted pendulum (NIP) model was utilized in order to generate a gait with a fully stretched knee joint angle that is similar to human gait. The proposed method was verified via the Gazebo simulation using a walking robot to simulate a patient wearing an exoskeleton. The experiment results show that the walking stability was highly improved after gait modification.

DOI： 10.1186/s40648-020-00169-y

Towards physical interaction-based sequential mobility assistance using latent generative model of movement state 査読有り

Itadera S., Kobayashi T., Nakanishi J., Aoyama T., Hasegawa Y.

Advanced Robotics 35 巻 ( 1 ) 頁： 64 - 79 2020年11月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Advanced Robotics

In this paper, we address sequential mobility assistance for daily elderly care through physical human–robot interaction. The goal of this work is to develop a robotic assistive system to provide physical support in daily life such as movement transition, e.g. sit-to-stand and walking. Using a mobile human support robotic platform, we propose an unsupervised learning-based approach to providing desirable physical support through an adaptive impedance parameter selection strategy according to the recognized user's movement state in an online manner. Using a latent generative model with a long short-term memory-based variational autoencoder, we first estimate the probability of the user's current movement state based on the sensory information in a low dimensional latent space. Then, the desired impedance parameters are selected adaptively according to the estimated movement state. One of the benefits of such an unsupervised learning approach is that no labeling is necessary in the training phase. Furthermore, our proposed framework is capable of detecting possible novel states such as falling over based on the obtained latent space. In order to demonstrate the proof of concept of our proposed approach, we present the experimental results of performance evaluations of online movement state recognition as well as novel movement detection.

DOI： 10.1080/01691864.2020.1844797

Towards the development of an intuitive teleoperation system for human support robot using a VR device 査読有り Open Access

Nakanishi J., Itadera S., Aoyama T., Hasegawa Y.

Advanced Robotics 34 巻 ( 19 ) 頁： 1239 - 1253 2020年10月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Advanced Robotics

This paper presents our development of an intuitive teleoperation system for Toyota's Human Support Robot. While this robot has been widely used as an autonomous agent in the field of service robotics, we explore a possibility of this robot for the use of remote assistance of daily activities in home environments. For rapid prototyping an affordable teleoperation system, we adopt a commercially available VR device as a user interface and develop a Robot Operating System (ROS)-based control framework building on the software application programming interfaces (APIs). In particular, we implement a singularity robust inverse kinematics algorithm to achieve a coordinated whole-body motion of the robot for safe and intuitive operation. We empirically evaluate the practical feasibility of the proposed teleoperation system through various test tasks. We discuss the potential and limitations of the current development for its future improvement.

DOI： 10.1080/01691864.2020.1813623

Magnetic self-assembly of toroidal hepatic microstructures for micro-tissue fabrication 査読有り

Takeuchi M., Iriguchi M., Hattori M., Kim E., Ichikawa A., Hasegawa Y., Huang Q., Fukuda T.

Biomedical Materials (Bristol) 15 巻 ( 5 ) 2020年9月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Biomedical Materials (Bristol)

In this study, we developed a procedure for assembling hepatic microstructures into tube shapes using magnetic self-assembly for in vitro 3D micro-tissue fabrication. To this end, biocompatible hydrogels, which have a toroidal shape, were made using the micro-patterned electrodeposition method. Ferrite particles were used to coat the fabricated toroidal hydrogel microcapsules using a poly-L-lysine membrane. The microcapsules were then magnetized with a 3 T magnetic field, and assembled using a magnetic self-assembly process. During electrodeposition, hepatic cells were trapped inside the microcapsules, and they were cultured to construct tissue-like structures. The magnetized toroidal microstructures then automatically assembled to form tube structures. Shaking was used to enhance the assembly process, and the shaking speed was experimentally optimized to achieve the high-speed assembly of longer tube structures. The flow velocity inside the dish during shaking was measured by particle image velocimetry. Hepatic functions were evaluated to check for side-effects of the magnetized ferrite particles on the microstructures. Collectively, our findings indicated that the developed method can achieve the high-speed assembly of a large number of microstructures to form tissue-like hepatic structures.

DOI： 10.1088/1748-605X/ab8487

Adaptive Proxy-Based Robust Control Integrated with Nonlinear Disturbance Observer for Pneumatic Muscle Actuators 査読有り国際共著国際誌

Cao Y., Huang J., Xiong C.H., Wu D., Zhang M., Li Z., Hasegawa Y.

IEEE/ASME Transactions on Mechatronics 25 巻 ( 4 ) 頁： 1756 - 1764 2020年8月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE/ASME Transactions on Mechatronics

In pneumatic muscle actuators (PMAs)-driven robotic applications, there might exist unpredictable shocks which lead to the sudden change of desired trajectories and large tracking errors. This is dangerous for physical systems. In this article, we propose a novel adaptive proxy-based robust controller (APRC) for PMAs, which is effective in realizing a damped response and regulating the behaviors of the PMA via a virtual proxy. Moreover, the integration of the APRC and the nonlinear disturbance observer further handles the system uncertainties/disturbances and improves the system robustness. According to the Lyapunov theorem, the tracking states of the closed-loop PMA control system are proven to be globally uniformly ultimately bounded through two motion phases. Extensive experiments are conducted to verify the superior performance of our approach, in multiple tracking scenarios.

DOI： 10.1109/TMECH.2020.2997041

A cooperative human-robot interface for constrained manipulation in robot-assisted endonasal surgery 査読有り国際誌 Open Access

Colan J., Nakanishi J., Aoyama T., Hasegawa Y.

Applied Sciences (Switzerland) 10 巻 ( 14 ) 頁： 4809 2020年7月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Applied Sciences (Switzerland)

Endoscopic endonasal surgery (EES) is a minimally invasive technique for removal of pituitary adenomas or cysts at the skull base. This approach can reduce the invasiveness and recovery time compared to traditional open surgery techniques. However, it represents challenges to surgeons because of the constrained workspace imposed by the nasal cavity and the lack of dexterity with conventional surgical instruments. While robotic surgical systems have been previously proposed for EES, issues concerned with proper interface design still remain. In this paper, we present a cooperative, compact, and versatile bimanual human-robot interface aimed to provide intuitive and safe operation in robot-assisted EES. The proposed interface is attached to a robot arm and holds a multi-degree-of-freedom (DOF) articulated forceps. In order to design the required functionalities in EES, we consider a simplified surgical task scenario, with four basic instrument operations such as positioning, insertion, manipulation, and extraction. The proposed cooperative strategy is based on the combination of force based robot control for tool positioning, a virtual remote-center-of-motion (VRCM) during insertion/extraction tasks, and the use of a serial-link interface for precise and simultaneous control of the position and the orientation of the forceps tip. Virtual workspace constraints and motion scaling are added to provide safe and smooth control of our robotic surgical system. We evaluate the performance and usability of our system considering reachability, object manipulability, and surgical dexterity in an anatomically realistic human head phantom compared to the use of conventional surgical instruments. The results demonstrate that the proposed system can improve the precision, smoothness and safety of the forceps operation during an EES.

DOI： 10.3390/app10144809

Visual feedback control of a rat ankle angle using a wirelessly powered two-channel neurostimulator 査読有り

Takeuchi M., Watanabe K., Ishihara K., Miyamoto T., Tokutake K., Saeki S., Aoyama T., Hasegawa Y., Kurimoto S., Hirata H.

Sensors (Switzerland) 20 巻 ( 8 ) 頁： 2210 2020年4月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Sensors (Switzerland)

Peripheral nerve disconnections cause severe muscle atrophy and consequently, paralysis of limbs. Reinnervation of denervated muscle by transplanting motor neurons and applying Functional Electrical Stimulation (FES) onto peripheral nerves is an important procedure for preventing irreversible degeneration of muscle tissues. After the reinnervation of denervated muscles, multiple peripheral nerves should be stimulated independently to control joint motion and reconstruct functional movements of limbs by the FES. In this study, a wirelessly powered two-channel neurostimulator was developed with the purpose of applying selective FES to two peripheral nerves—the peroneal nerve and the tibial nerve in a rat. The neurostimulator was designed in such a way that power could be supplied wirelessly, from a transmitter coil to a receiver coil. The receiver coil was connected, in turn, to the peroneal and tibial nerves in the rat. The receiver circuit had a low pass filter to allow detection of the frequency of the transmitter signal. The stimulation of the nerves was switched according to the frequency of the transmitter signal. Dorsal/plantar flexion of the rat ankle joint was selectively induced by the developed neurostimulator. The rat ankle joint angle was controlled by changing the stimulation electrode and the stimulation current, based on the Proportional Integral (PI) control method using a visual feedback control system. This study was aimed at controlling the leg motion by stimulating the peripheral nerves using the neurostimulator.

DOI： 10.3390/s20082210

Head-mounted display-based microscopic imaging system with customizable field size and viewpoint 査読有り国際誌 Open Access

Aoyama T., Takeno S., Takeuchi M., Hasegawa Y.

Sensors (Switzerland) 20 巻 ( 7 ) 頁： 1967 2020年4月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Sensors (Switzerland)

In recent years, the use of microinjections has increased in life science and biotechnology fields; specific examples include artificial insemination and gene manipulation. Microinjections are mainly performed based on visual information; thus, the operator needs high-level skill because of the narrowness of the visual field. Additionally, microinjections are performed as the operator views a microscopic image on a display; the position of the display requires the operator to maintain an awkward posture throughout the procedure. In this study, we developed a microscopic image display apparatus for microinjections based on a view-expansive microscope. The prototype of the view-expansive microscope has problems related to the variations in brightness and focal blur that accompany changes in the optical path length and amount of reflected light. Therefore, we propose the use of a variable-focus device to expand the visual field and thus circumvent the above-mentioned problems. We evaluated the observable area of the system using this variable-focus device. We confirmed that the observable area is 261.4 and 13.9 times larger than that of a normal microscope and conventional view-expansive microscopic system, respectively. Finally, observations of mouse embryos were carried out by using the developed system. We confirmed that the microscopic images can be displayed on a head-mounted display in real time with the desired point and field sizes.

DOI： 10.3390/s20071967

Enhancing the Transparency by Onomatopoeia for Passivity-Based Time-Delayed Teleoperation 査読有り

Zhu Y., Aoyama T., Hasegawa Y.

IEEE Robotics and Automation Letters 5 巻 ( 2 ) 頁： 2981 - 2986 2020年4月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Robotics and Automation Letters

Robotic teleoperation with force feedback has been studied extensively since it was first developed in the 1940 s. Time delay is a common problem of bilateral teleoperation systems. Although many efforts on optimizing the control architectures have been made, there is always a trade-off between transparency and stability for bilateral systems, and the perfect transparency and stability can only be achieved simultaneously in ideal situations. In this letter, we propose a novel approach to compensate for the degraded transparency while using the conventional passivity-based approach to maintain system stability under time-delay. The proposed approach is based on visual feedback and enhances the transparency by displaying different kinds of onomatopoeia according to contact force detected on the slave side. The basic performance is evaluated by conducting a stiffness classification task under constant round trip time delays (0 ms, 500 ms and 1000 ms). The preliminary results indicate that the subjects have higher accuracy for classifying the stiffness of a remote object by using onomatopoeia enhanced force feedback compared with the conventional passivity-based position-force feedback.

DOI： 10.1109/LRA.2020.2972896

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