An estimation method of end-point impedance based on bilateral control system

Toshiaki Okano, Kouhei Ohnishi, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper aims at developing an estimation method of end-point impedance. Human operators are constantly changing their end-point impedance for adapting to the surrounded environment and executing some complicated tasks, and it is highly meaningful to investigate these variations for the further understanding of human motion. Most of the conventional researches, however, have considered non-contact-point impedance or tasks that is only holding the vibrated sticks due to the experimental constraints. This paper proposes the estimation method of end-point impedance by using bilateral control system. The extra signal is added to the force controller for the impedance estimation. In addition, the effect of the bilateral controller is estimated and removed from the impedance estimation process for securing the applicability of moving tasks. The proposed method was validated through simulations and an experiment. The experimental result showed that the end-point stiffness can be estimated properly even if the operator robot was moving and changed its end-point impedance.

Original languageEnglish
Pages (from-to)1151-1167
Number of pages17
JournalAdvanced Robotics
Issue number21
Publication statusPublished - 2018 Nov 2


  • Haptics
  • bilateral control system
  • impedance estimation
  • motion control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


Dive into the research topics of 'An estimation method of end-point impedance based on bilateral control system'. Together they form a unique fingerprint.

Cite this