A design of bilateral servo system with self-tuning function

Manual micromanipulation requires for operators to have enough experience and outstanding skill. A bilateral servo system attempts to convert difficult tasks so as to be felt easier for skilled operators. One of such a bilateral servo system, which reduces the displacement and expands the force, has been proposed by Kikuchi and Shiraishi[1]. However, concerning to the offset between a master manipulator´s stiffness and a slave manipulator´s one, its adverse effects of the operation stability becomes remarkable for the change of operator´s dynamics. In an actual use, such offset may cause a heavy damage of the manipulated object by the operation. In this study, we propose a self-tuning mechanism which can eliminate such offset problem. And we have confirmed the effectiveness of the proposed method by numerical simulation.