Fine force reproduction based on motion-copying system using acceleration observer

Yuki Yokokura, Kiyoshi Ohishi, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


This paper proposes a new motion-copying system that is capable of preserving and reproducing the motion of human operators. In conventional motion-copying systems, when the operator moves quickly, the reproduced force does not correspond to the stored force, owing to the large accelerations. Therefore, the motion-copying system proposed in this paper uses acceleration responses provided by acceleration observers, so the force is reproduced more accurately. The acceleration observer is based on a disturbance observer; it estimates the acceleration of an actuator without acceleration sensors. Furthermore, the estimation performance is not affected by the mechanical impedance of the target environment. In this article, the proposed motion-copying system is compared with current methods, and the validity of the method is demonstrated.

Original languageEnglish
Article number6748093
Pages (from-to)6213-6221
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number11
Publication statusPublished - 2014 Nov


  • Force control
  • motion control
  • motion-copying system
  • real-world haptics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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