Macro-micro bilateral control with friction-free structure

Shutaro Yorozu, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Micro manipulation technology is demanded for many fields such as engineering, medical fields, and biological disciplines. Macro-micro bilateral control is essential technique to realize micro manipulation with force feedback. However, viscosity friction in micro environment is problem when the system conducts unconstrained motion. Moreover, the signal noise of position encoder is also problems. This paper proposes the cancellation of viscosity friction and signal noise by using differential mode of force and position in slave system. The pure grip force is able to get by the cancellation of viscosity friction. The viability of the proposed method are shown by some experimental results.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Number of pages6
Publication statusPublished - 2009 Dec 1
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 2009 Aug 182009 Aug 21

Publication series

NameICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings


OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009


  • Bilateral control
  • Disturbancde observer
  • Electromechanical integration system
  • Haptic energy conversion
  • Micro manipulation
  • Mode transformation
  • Real-world haptics

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering


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