System connection in multilateral control system considering number of subsystems

Recently, remote communication technology such as telephone, radio and television is extensively developed. Haptic information is studied as the third multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. In order to control haptic information, the bilateral control with a master slave system is used widely. If we control plural haptic information, multilateral control that expanded the bilateral control is effective. Because the plural systems are handled, 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 combination and transmission of the force is shown in the multilateral control. So, if we know the connection condition among the systems before the fact, this utility value is high when we 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.