This paper presents an assisting method for positioning task using flexible master slave manipulator. The proposed assisting method is a unilateral control consisting of input shaping compensator in the master side and direct acceleration feedback of the tip of slave arm in the slave side. Notch filter is used as the input shaping compensator to eliminate vibration frequency from operating force signal. The effectiveness of the proposed method is verified from standpoints of maneuverability and operator's feeling. The former is based on the evaluation of the time responses and the success time, and the latter the subjective evaluation of an operator using semantic differential method and principal component analysis.
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