In teleoperation, the operated objects are often present in an ambient environment such as water or blood. It then becomes difficult to distinguish between the reaction force from the operated objects and the reaction force from the ambient environment. This affects the safety of the operation and the operation itself. In this paper, we propose a control method for reproducing the reaction forces from an operated object, excluding the reaction forces from the ambient environment. We introduced the concept of dynamic reproducibility, which is an ideal condition considering the ambient environment. Furthermore, a bilateral control system that considers the ambient environment is designed on the basis of dynamic reproducibility. The validity of the proposed system is confirmed by the simulation results and the experimental results.
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