Analysis, modeling, and compensation of friction for scaled bilateral control

Yosuke Mizutani, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


At present, many kinds of robots are being developed for medical care. In medical care, operations often need to be performed at the micro-scale. This study was focused on a macro-micro bilateral control system that can transmit haptic sensations of a micro-environment between master and slave systems. The macro-micro bilateral control system amplifies disturbances; therefore, analysis, modeling and compensation of the disturbances were considered.

Original languageEnglish
Pages (from-to)344-349
Number of pages6
JournalIEEJ Journal of Industry Applications
Issue number4
Publication statusPublished - 2014


  • Coulomb friction
  • Macro-micro bilateral control system
  • Scaling
  • Viscous friction

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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