Relationship between System Parameters and Operator's Haptic Sensation in Bilateral Controlled Master–Slave System.

When adjusting the parameters of a bilateral controlled master–slave system according to the task requirements, the operator's haptic sensation requirements for the contact between the slave device and the environment should also be considered. However, a quantitative relationship between the parameters and the haptic sensation has not been clarified. First, this paper introduces an index quantifying the operator's haptic sensation by its value. Second, for the simple and complex position-force bilateral control models, the relationships between the haptic sensation index and the parameters are derived and expressed as functions calculating the index value directly from the parameter values. Third, the experimental results reveal that the parameter design according to the derived function is valid. The results of this study are expected to be useful as a guideline for adjusting the parameters of a bilateral controlled master–slave system with consideration to the haptic sensation. [ABSTRACT FROM AUTHOR]

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