SWU-OFDB: A database for occluded face detection research

This research focuses on the high bandwidth force sensation for haptic transmission with low noise disturbance. A Kalman-filter-based state observer (KFSO) has been designed to estimate action/reaction force of the master and slave robots. The stable control loop can be obtained when a KFSO is implemented as the feedforward control for a disturbance torque compensation loop. Moreover, this paper also deals with the construction of multilateral control with the use of modal space design provided by the calculation of Hadamard matrix. With such a robust force control scheme, significant high bandwidth haptic sensing in a multilateral control can be achieved. It is possible to provide high transparency and good perception of the environmental stiffness with multi-robot system. Under noisy conditions, a high performance of the position control and force control can be achieved by applying the Kalman filtering. The simulation results are provided to illustrate the performance of the proposed algorithms.