Toshitsugu Doi

About

Toshitsugu Doi is a pioneering researcher in space robotics, specializing in teleoperation systems for orbital manipulation. His key research areas include bilateral control, haptic interfaces, and time-delay compensation for space-based robotic arms. Doi’s most significant contribution is the development of a mixed force and motion command-based teleoperation system, which enables precise manual control of space robots despite communication delays of up to seven seconds. He validated this technology through groundbreaking experiments with the Engineering Test Satellite VII (ETS-VII), a Japanese satellite equipped with a robotic arm. In a landmark 1999 experiment, Doi successfully demonstrated direct bilateral coupling between ground operators and the ETS-VII manipulator, achieving stable teleoperation under extreme latency. His work on haptic interfaces further enhanced operator immersion, allowing force feedback from space. His most cited paper (169 citations) on model-based space robot teleoperation remains a foundational reference in the field. Doi’s achievements have directly influenced the design of modern space telerobotics, including systems used on the International Space Station, and his research continues to guide efforts in autonomous and human-supervised orbital servicing.

Research Focus

Key Achievements

Top Papers

1. 1
   Model-Based Space Robot Teleoperation of ETS-VII Manipulator

   169 citations · 2004
2. 2
   Teleoperation of Engineering Test Satellite VII Mounted Robotic Arm Using a Haptic Interface.

   3 citations · 2001
3. 3
   Ground-Space Teleoperation of a Robot Arm Mounted on Engineering Test Satellite No.VII by Direct Bilateral Coupling under a Long Time Delay Condition

   3 citations · 2003
4. 4
   Ground-Space Teleoperation of ETS-VII Robot Arm by Direct Bilateral Coupling under 7-sec Time Delay Condition

   2 citations · 2001

Key Collaborators

Contact & Links