| Presentation | 2005-01-27 Analysis on Performance of Bilateral Robot System using Wireless Communication Takeshi MARUGAME, Makoto OHNISHI, Masao NAKAGAWA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Wireless robotic manipulation promises applications in medical fields, allowing for surgeries to take place when the patient and surgeon are in distant places. Remote wireless robotic manipulation systems can possibly offer high dexterity and sensation capabilities, while allowing millimeter-scale control by the surgeon. Past researches focus on robotic manipulation using a wired bilateral system, most of which assumes an error-free and zero-delay environment. If a surgery were to be carried out using a wireless system, there are two major problems, error and delay, which must be considered seriously. In this paper, a wireless radio channel environment, modeled using AWGN and multipath fading channel, is introduced to the existing wired bilateral robotic manipulator system, and tracing performance is observed through simulation results. In addition, Gray code, Adaptive Carrier Selection, and Kalman filter are implemented to improve tracking performance. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | OFDM (Orthogonal Frequency Division Multiplexing) / Adaptive Carrier Selection (ACS) / Kalman Filter / Bilateral Robot / Compliance Control |
| Paper # | CS2004-175,RCS2004-282 |
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| Conference Information | |
| Committee | RCS |
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| Conference Date | 2005/1/20(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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| Paper Information | |
| Registration To | Radio Communication Systems (RCS) |
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| Language | ENG |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Analysis on Performance of Bilateral Robot System using Wireless Communication |
| Sub Title (in English) | |
| Keyword(1) | OFDM (Orthogonal Frequency Division Multiplexing) |
| Keyword(2) | Adaptive Carrier Selection (ACS) |
| Keyword(3) | Kalman Filter |
| Keyword(4) | Bilateral Robot |
| Keyword(5) | Compliance Control |
| 1st Author's Name | Takeshi MARUGAME |
| 1st Author's Affiliation | Department of Information and Computer Science, Keio University() |
| 2nd Author's Name | Makoto OHNISHI |
| 2nd Author's Affiliation | Department of Information and Computer Science, Keio University |
| 3rd Author's Name | Masao NAKAGAWA |
| 3rd Author's Affiliation | Department of Information and Computer Science, Keio University |
| Date | 2005-01-27 |
| Paper # | CS2004-175,RCS2004-282 |
| Volume (vol) | vol.104 |
| Number (no) | 598 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |