Excess Force Reduction in Bilateral Control for Precise and Safe Operation

R. M.Maheshi Ruwanthika, Seiichiro Katsura

研究成果: Article査読


This paper proposes a constrained bilateral control method to maintain a safe force limit in a remote environment in an event where the operator applies excessive force on the master system. The disturbance observer compensates system disturbances, and the reaction force observer (RFOB) estimates the external force exerted on individual. The paper introduces a force regulator called excess force reduced RFOB (EFR RFOB) to reduce the excessive force applied by the operator to the safe force limit. The amount of excess force is determined by adding the master-side RFOB output and the replica-side safe force limit. Acceleration-based bilateral control is implemented in a virtual space with a master virtual force input, virtual position response, and replica real force-position responses. It realizes transparency in the virtual space. This paper derives the relation between master-side real and virtual space variables to facilitate reproducibility between the master operator and replica environment. The restrained master force-position responses in the virtual space realize precise and safe force control on the replica-side in real space. The proposed method is verified using experiments.

ジャーナルIEEJ Journal of Industry Applications
出版ステータスPublished - 2022

ASJC Scopus subject areas

  • 自動車工学
  • エネルギー工学および電力技術
  • 機械工学
  • 産業および生産工学
  • 電子工学および電気工学


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