Bilateral teleoperation in physical support for human

Robots and intelligent machines in future should be autonomous in open situation to realize physical support for human. Since they intend to adapt themselves to unstructured environment, more complicated behaviors are needed. Controlled touching motion is one of the most important actions for the purpose. Haptics for real-world will treat such issues. Teleoperation with haptic realization will be a future target. Touching motion is inherently bilateral, since an action is always accompanied by a reaction. That means the artificial realization of touching needs very fast controller to keep the time-delay as small as possible. Not only time delay but also frequency range of force signal is important for vivid sensation. The acceleration controller brings wide-band controller which satisfies above requirements. The bilateral control with high transparency realizes the haptic database. By using bilateral preservation of action and reaction, it is possible to realize the individual's skill acquisition, skill training, skill transfer to the robots, haptic broadcasting, and so on. Furthermore, in order to support for human activities in remote environment, bilateral teleoperation over Internet is also one of the important issues. The paper shows that the acceleration-based bilateral teleoperation with a disturbance observer has robustness against even the communication delay.