Analysis of generalized hybrid parameters based on macro-micro bilateral control for avoiding destruction of micro object

This paper presents a novel concept of performance index for evaluating the scaled haptic transmission in a micro space. Bilateral control based on acceleration control enables human to acquire and render a tactile sensation. In order to realize the applications of a tactile sensation as well as audio and visual information, editing tactile information will be considered. However, the signal which is measured by a digital sensor is remarkably affected by a high-frequency domain disturbance or quantization error. The purpose of this paper is to expand the previous performance index with the interference of a high-frequency domain disturbance and quantization error. Considering the novel performance index, a modal space filter to extract expectation value is conducted by employing a Kalman filter for avoiding destruction of a micro object. In the experiments, the trade-off between a disturbance matrix and a quantization error matrix is confirmed, and 1000 times scaled haptic transmission that contacts with water fleas is achieved.