A method for improving scaling bilateral control by integration of physical and control scaling ratio

This paper proposes a novel scaling method in bilateral control. In general, scaling factor of position and force is set into the controller. In this case, force is scaled not by only reaction force from environment but external force such as friction. Therefore, it is difficult to get haptic sense from environmental reaction force. In the proposed method, scaling ratio is defined by the product of physical scaling ratio and control scaling ratio. By using this method, the influence of external force is decreased compared with the conventional scaling method. Hence, the operator can feel the environmental force. In this research, proposed method is applied to Electro-Hydraulic Transmission System (EHTS). EHTS is a kind of actuating system which is consisted of two syringes, tube and liquid. In the case of EHTS, physical scaling is defined by the ratio of diameter of both syringes. The validity of the proposed method is confirmed by experimental results.