Reproduction of Real World Force Sensation by Micro-Macro Bilateral Control with Respect to Standardized Modal Space

摘要

Future robots should support the human activities physically. The physical support must be based on the individual's sensation and action. Then, real world haptics will be a key technology for the realization of human support based on the individual's sensation and action. Additionally, the preservation and reproduction of real world haptic information has been required for the purpose, since it may achieve the preservation of the individual's sensation and action. This paper proposes micro-macro bilateral control with respect to standardized modal space, in order to realize the physical support for the microscopical activities. In micro-macro bilateral control, the standard of the macro master system must be harmonized with the standard of the micro slave system. Then, in this paper, the standardization between macro master system and micro slave system is attained in the standardized modal space. Later, the reproduction method of real world force sensation by micro-macro bilateral control based on haptic storage is proposed to achieve the fundamental technology of the preservation of the individual's sensation and the microscopical action. Finally, the experimental results are shown to verify the viability of the proposed methods.