相似バイラテラル制御による操作感覚の増幅

抄録

This paper proposes the scaled bilateral control system which amplifies the sensation of force, length, and dynamics in tele-manipulation. The bilateral control should be utilized in the teleoperation where the physical scales between the master and slave environments are different. Scaling rules are applied to design the bilateral system with an extension of the impedance control type bilateral control system. The response of amplified sensation and the contact stability of the system are discussed. Also, the proposed system is verified with the experiments with a pair of linear sliders.