Remote Control Method with Tactile Sensation for Underwater Robot with Magnetic Coupling

摘要

This paper described the remote control method with the tactile sensation for the underwater robot. The remote control system for the underwater robot consists of the master system in the atmosphere and slave system in water. The wearable passive device which consists of the constant torque spring, and the powder brake is used as the master system. This device is designed based on the fingertip motion, and it is expected to improve the operability. On the other hand, the underwater manipulator with the module structure is used as the slave system. This manipulator has the water-proof property by using the magnetic coupling. The structure and driven system between the master and slave systems are different. In addition, the master device generates the only passive force like the braking force. Therefore, the only essential information for the realization of the remote control is extracted and used. In this paper, the position information is sent from the master system to the slave system, and the force information is transmitted from the slave system to the master system. From the experimental results, the validity of the proposed method was confirmed.