Bilateral Control by Transmitting Force Information with Application to Time-delay Systems and Human Motion Reproduction

The decreasing number of workers and the loss techniques skilled workers, associated with an aging society, which can be attributed to falling birth rate, are serious issues. To solve these problems, human substitution by robot technology is essential. This study proposes a bilateral control system that only transmits force information presents applications scaled control, time-delay systems, motion preservation reproduction. reported demonstrated structure performance proposed equivalent those conventional four-channel using position/force information. In method, because position not used, amount transmitted or stored data reduced compared in reproduction Simulations experiments were conducted evaluate method.