Future Society Opened by Real Haptics. Kouhei OHNISHI, Yuki SAITO, Satoshi FUKUSHIMA, Takuya MATSUNAGA, Takahiro NOZAKI

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1 Future Society Opened by Real Haptics *1 *1 *1 *1 *1 Kouhei OHNISHI, Yuki SAITO, Satoshi FUKUSHIMA, Takuya MATSUNAGA, Takahiro NOZAKI Real haptics has been a unsolved problem since its starting in 1940 s. After many R&Ds including the early works in US and other countries, the bilateral control designed in acceleration space solves this issue. The quality of the touching and tactile sensation is heavily depends on transperancy between master side and slave side. The robust motion control which is equal to the acceleration control gives high transperancy. The real haptics is now key concept in 21st century where QOL should be the basis of the society. The various examples are also shown. Keywords: real haptics, bilateral control, synchronization, tactile sensation, haptic communication. ( ) [1] ohnishi@sd.keio.ac.jp *1 [2] Raymond Goertz [3] [4,5,6] hapticshaptic technology [6,7] haptic call 9

2 telephone 2.2 Goertz 1) 2) [8] [8] [8] Fig. 1 Fig. 1 Block diagram of bilateral control. Hybrid m m s (1) s Hybrid 0B [9] 10

3 [8] [8] [8] 2.3 (1) (1) (3) Hadamard (3) (2) [10] (4) (Acceleration-based Bilateral Control: ABC ) (2) 11

4 Fig. 3 Fig. 4 Fig. 2 Block diagram of ABC system. CPU Fig.4 Experimental results of haptic steering wheel. 2.4 ABC Fig. 3 ABC ABC 3.1 Fig. 3 Haptic steering wheel for preliminary experiment. ABC 12

5 Fig. 5 Fig (a) (b) Fig. 5 Motion record by real haptics (a) and playback without master operator (b). (left side is slave and right side is master) ABC Fig. 6 Real haptics (top), motion playback (middle) and virtual haptics (bottom). 13

6 M/N ABC % 65 [11] 20 Jeremy Bentham the greatest happiness of the greatest number ( )standardization 21 BRICS QOLquality of life 20 Fig. 7 Fig. 8 3D CAD Fig. 7 Prosthetic hand based on real haptics. 14

7 Fig. 8 Drawing of artificial arm and finger master. [12] Fig. 9 30% [12] Fig. 10 Making a knot by haptic forceps operated by surgeon. Fig. 9 Prosthetic hand by real haptics and EMG hand with performance example measured by time. Fig. 10 [13] LSI Fig. 11 Fig. 11 LSI module for real haptics. QOL 15

8 QOL LSI [1] (,,),,, [2] Stanley E. Jones, Elaine Yarbrough, A naturalistic study of the meanings of touch, Communication Monographs, Volume 52, Issue1, pp , [3] Raymond C. Goertz, Remote-control manipulator, US Patent A, manipulator-ray-goertz-american/ [4] Raymond C. Goertz, Fundamentals of general-purpose remote manipulators, Nucleonics, Volume 10, pp , [5] Bruno Siciliano, Oussama Khatib (Editors), Chapter 31, Handbook of Robotics, Springer, [6] Matthew T. Mason, Creation myths: The beginnings of robotics research, IEEE Robotics & Automation Magazine, Issue 2, pp , [7] Peter F. Hokayem, Mark W. Spong, Bilateral teleoperation: An historical survey, Automatica, Volume 42, Issue 12, pp , [8],,, No. 297, pp , [9] Wataru Iida, Kouhei Ohnishi, Reproducibility and operationality in bilateral teleoperation, Proceedings of the 8th IEEE International Workshop on Advanced Motion Control, pp , March [10] Asif Sabanovic, Kouhei Ohnishi, Motion control systems, (ISBN ), John Wiley & Sons, [11], 28, 28pdf_index.html, [12] Satoshi Fukushima, Takahiro Nozaki, Kouhei Ohnishi, Development of haptic prosthetic hand for realization of intuitive operation, Proceedings of the 42nd Annual Conference of the IEEE IECON 2016, October [13] Takuya Matsunaga, Guillaume Fau, Shuhei Shimizu, Kazuki Tanida, Takahiro Mizoguchi, Kouhei Ohnishi, Double hands manipulation with force sensation realized by multi dof forceps robots, Proceedings of the 41st Annual Conference of the IEEE IECON 2015, November