Amplification of Sensation of Manipulation by Scaled Bilateral Control

Taisuke Sakaki, Susumu Tachi
1995 Journal of the Robotics Society of Japan  
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
more » ... ussed. Also, the proposed system is verified with the experiments with a pair of linear sliders.
doi:10.7210/jrsj.13.441 fatcat:khhhi2fedjal5bd3fkzflhxcci