抄録
Recently, bilateral control systems for realizing teleoperation in harsh environment are hardly studied in the academic field which called real-world haptics. Bilateral control is an important technology for transmitting and reproducing tactile information and human motion between operators and environment. As a important human motion, there is the thumb opposability. Thumb opposability makes human beings possible to perform artful finger motions against environment. On the other hand, it is desirable for operators to make the bilateral teleoperation system work autonomously in order to adapt themselves to environment from a view point of concentrating operators to desired tasks and energy conservation. The burden of the operator is able to reduce if slave system deals with the variety of environmental posture or motion of the operator independent from master system while desired tasks which the operator want to do are reproduced by using bilateral control. Simultaneously with being in execution of autonomy at the slave side, motions which are derived from thumb opposability and particular function of human beings should be reproduced in bilateral teleoperation. In this research, a Bilateral Control System for Environmental Adaptation based on thumb opposability is proposed.
