A design method of bilateral control system based on interactive parameters

This paper proposes a method to design bilateral control systems based on interactive parameters. Conventional design methods were based on F parameters and, mainly took care of the elements A and D in F matrix. In this research, all four elements are taken care in order to increase the degree of freedom in system design. A design is based on interactive parameters, Z₁, Z₂, and θ_I. The new design method enables an independent design of impedance transmission and scaling. The effect of the proposal is experimentally verified.