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Identification of Human and Environmental Impedances by Using Bilateral Control System with Low-pass Filtered M-sequence Signal

机译:通过使用低通滤波的M序列信号使用双侧控制系统识别人和环境阻抗

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This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and the identification method of impedance is strongly desired to develop. In this paper, low-pass filtered M-sequence signal is added to the bilateral control system for identifying both human and environmental impedances with information in the frequency domain. Experiments were conducted for verifying the effectiveness of the proposed method.
机译:本文旨在利用双边控制系统开发利用频域中的信息识别人和环境阻抗的方法。在传统方法中,将正弦波添加到双边控制系统的共同模式中,然而,该方法不能提取频域中的触觉信息。假设人类阻抗每时每刻都会发生变化,并且强烈需要识别阻抗方法。在本文中,将低通滤波的M序列信号添加到双边控制系统中,用于识别人类和环境阻抗的频域中的信息。进行实验以验证提出的方法的有效性。

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