抄録
A novel method for improving the haptic sensitivity for bilateral control system is proposed. The goal of this work is to enhance the force transmission in a bilateral system, so that even a small force acting on the slave side can be felt from the master side. There are two steps in the proposed method. The first step is frequency recognition where the force frequency of the specified contact interface is recognized using frequency spectrum. After that, an amplifier is developed for the boosting up the force signal for that particular frequency during the transmission. Experiments are done using a linear-motor based bilateral system, and according to the results, the sensitivity is significantly improved with the proposed method.
