Articulated multilateral control for haptic broadcasting system

Recently, haptic broadcasting technology is researched, and the practical realization of haptic broadcasting is desired. The articulated multilateral control system achieves haptic transmission among several systems by connecting bilateral systems which are haptic transmission system between two systems. It is possible to separate and add of the systems freely without changing the control architecture. In order to achieve the haptic broadcasting, it is necessary to be able to operate the many systems independently. In addition, it is necessary that number of human operators can get the haptic sense of the same object independently. In this paper, articulated multilateral control system with haptic transmission ratio is proposed. The proposed method realizes independent free motion and perception of haptic sense of same object by many operators on haptic broadcasting. With proposed method, the haptic sense information which is transmitted is converted by the haptic transmission ratio when it passes connecting terminal. The experimental results show the availability of the proposed method.