Transmission of Force Sensation Using Linear Motor and Release

In this paper, release is utilized for transmitting driving force from motors to end-effectors. First, for implementing release to bilateral control systems, transmittable frequency of release is clarified experimentally. Second, for knowing the relation between transmittable frequency of release and force sensation, main frequency bandwidth for transmitting force sensation is experimentally analyzed by using bilateral control systems without release. Eventually, it is shown that release is able to transmit main frequency bandwidth for transmitting force sensation. Finally, the validity of the bilateral control system with releases is shown from frequency spectrums of force response and position response.