Designing Time Delay Compensation Methods for Functional Modes Using Sensory Evaluation

Abstract

Time delay deteriorates bilateral control performance. Although many time delay compensation methods have been proposed, there is no clear index for selecting which compensation method should be used. Furthermore, such indices become even more necessary in systems with multiple degrees-of-freedom, as performance requirements differ for each functional mode according to the human sense that is evaluated. Therefore, in this paper, an indexing and design method for functional modes using sensory evaluation to select appropriate compensation methods is proposed. The experimental results demonstrate the validity of this proposal.