抄録
In the master-slave system, operators controls the master device based on visual information and sensory feedback. This suggests that the position sensors at the slave side are not always necessary. However, position signals are required to estimate the acting force to the slave using an observer which realize the force sensorless control. In this paper, we focused on the biological signals of the operator to estimate the slave side's condition which can be used to estimate the external force. For the early stage of the research, we investigate biological signals just before the contact motion with 1-Dof master-slave system. We measured EMG signals and gripping force of operators when pushing objects. We verified that predictive signals can be used for estimation of touching the objects.
