Bilateral control with Bluetooth and its evaluation

摘要

Recently, master-slave robots over networks are researched. Master-slave systems over networks attracted the attention because it is possible to work in the remote side. Especially, 4ch bilateral control systems can transmit haptic information and the application of the systems is telesurgery and operation in the remote side where human cannot enter. However, wired connection has the disadvantage that mobility and flexibility are lost, so it is difficult to configure networks in such a mountain of rubble In that case which physical connections are difficult, wireless networks are effective. In this paper, bilateral control with Bluetooth is developed. Bluetooth networks configure piconets and scatternets and sensor networks are suitable. In this paper, experiments are conducted by bilateral control with Bluetooth and its performance is evaluated.