Bilateral force feedback control with different configurations based on dimensional scaling for realization of mobile-hapto

Wataru Yamanouchi, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to journalArticle

20 Citations (Scopus)


Recent advances in control technology have contributed to the development of robot systems for communication with humans. Robot systems recognize the environment on the basis of audio-visual information. Recognition methods based on audio-visual feedback have been developed by many researchers. Recently, haptic information has attracted attention as the third type of multimedia information. This paper proposes a force feedback method for systems with different motion areas, named "mobile-hapto". Sense of touch is useful for remote manipulation. The mobile-hapto consists of a mobile robot with an infinite area for motion and a joystick that is fixed at a given position and can be operated manually. To realize of force feedback in the "mobile-hapto", bilateral control with dimensional scaling is proposed. In this case, intuitive manipulation becomes possible when using the "mobile-hapto". The effectiveness of the proposed method is verified by experimental results.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Issue number2
Publication statusPublished - 2011



  • Acceleration control
  • Bilateral control
  • Mobile robot
  • Motion control
  • Real-world haptics
  • Scaling

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this