Multilateral Haptic Feedback Control by Transmission of Force Information

In recent years, there has been a demand for robots to replace human labor in industrial fields and extreme environments. Among them, teleoperation technologies are expected to play an important role. This study proposes a multilateral haptic feedback control based on force-information transmission. Conventional multilateral control is based on a position/force hybrid control, but the proposed method can achieve a control performance equivalent to the conventional method by transmitting only force information. The proposed method can reduce the amount of haptic data traffic and stored haptic data because of the utilization of only one type of information. Simulations and experiments evaluate the proposed method with a comparison to the conventional method.