Transmission of force sensation by micro-macro bilateral control with scaling of control gains

A micro-macro bilateral system consists of master and slave system of different sizes. Thus, it is vital for the micro- macro bilateral control to use appropriate scaling factors of position and force responses, And the appropriate control gains should be used according to the scaling gains. The proposed method is designed based on ideal reproducibility and ideal operationality of micro-macro bilateral control system. By deriving the control system to satisfy the ideal reproducibility, scaling factors of control gains are obtained. In this paper, the frequency analysis results of hybrid parameters are shown to verify the validity of the proposed method. And the proposed method is applied to the experimental micro-macro bilateral system and the results of the experimentation with real biological environments is shown. Moreover, the impedances of the contacted objects are estimated and compared.