A scaled teleoperation

This paper describes a basic control structure for scaled manipulation. Tools for scaled manipulation are necessary when one manipulates a target of quite different size from one´s body. In such case, the tool has to scale up or down not only `size´ but also `force´ in bilateral way. This paper asserts that `time scale´ should also be considered together with size and force in order to build up an intelligent tool which provides an imaginary work environment as if one can feel one´s body size is scaled to the target size. And this paper propose two simple time scaling methods which can be used in bilateral force-position controls