Control Structure Determination of Bilateral System based on Reproducibility and Operationality

Kazuki Tanida, Toshiaki Okano, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


The 4ch bilateral control is a teleoperation method that transmits the position and force information between the master and slave, and the reproducibility and operationality are often used to evaluate it. Conventionally, the reproducibility and operationality have been utilized only for performance evaluation, although many controllers based on the 4ch bilateral control scheme have been proposed. Therefore, the aim of this paper is to determine the controller structure based on the target reproducibility and operationality in advance. The contribution of this paper is to develop an appropriate controller from the reproducibility and operationality through numerical computations and analyses. The structure of the proposed controller is verified through simulations and experiments.

Original languageEnglish
Pages (from-to)767-777
Number of pages11
JournalIEEJ Journal of Industry Applications
Issue number5
Publication statusPublished - 2019


  • Bilateral control
  • Operationality
  • Phase-lead compensator
  • Reproducibility

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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