Analysis of system connection in multilateral control system considering number of subsystems

Recently, haptic information is studied as the third type of multimedia information. In order to control haptic information, the bilateral control is used widely. It is desirable to use the haptics in a training system as one of the proper examples of haptics. In the training system, the movement of the trainer is transmitted to the trainee and the trainee will be influenced. If plural haptic information is controlled, multilateral control that expanded the bilateral control is effective. In this way, the transmission of information becomes important among the systems. Furthermore, in order to handle the plural systems, it becomes important to think of the connection condition among the systems. In this paper, the relationship between the number of systems and strength of the connection is shown in the multilateral control. If the control designer knows the connection condition among the systems in advance, this utility value becomes high when they design a system. In two different systems of the number of the connection, it is confirmed that the binding force changed even if the operator performed the same movement by the experimental results.