Method for controlling master-slave robots using switching and elastic elements

Ikuo Yamano, Kenjiro Takemura, Ken Endo, Takashi Maeno

Research output: Contribution to journalConference article

20 Citations (Scopus)


A new type of master-slave control methodology, which has the merits of both unilateral and bilateral ones, is proposed. The methodology is built on switching the unilateral feedback controls of position and force as required using switching and elastic elements. Proposed methodology not only eliminates the demerits of bilateral control, but also supplies the mechanical force feedback to the operator. It utilizes a feature of human factor that direct displacement feedback is not as important as visual and force feedback. Effectiveness of the proposed method is confirmed by experiments using a developed simple single axis master-slave arm system. Driving test of the experimental devices and sensory evaluations are conducted. As a result, it is confirmed that the methodology successfully provides the sense of touch to the operator of the system.

Original languageEnglish
Pages (from-to)1717-1722
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2002 Jan 1
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15



  • Control
  • Force feedback
  • Master-slave system

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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