Modal-space filtering by expectation value extraction for high-scaling bilateral control

This paper proposes a novel filtering method to reduce the stochastic disturbance in modal space. Recently, macromicro manipulation has been applied in medical fields, especially for cell manipulation. In conventional approaches, a scaling bilateral control with haptic feedback is one of the key technologies for micro manipulation. However, the quality of haptic information deteriorates because of the influence of stochastic disturbance such as quantization noise caused by the interference between the macro-space and micro-space. To solve this problem, a modal filter that compensates for interference terms in each space is proposed. By dealing with the random variable as a mass fluctuation, the interference term of the stochastic disturbance on the master system can be clarified. Using the proposed method, it is possible to reduce the variance of the random variable and extract the expectation value. The validity of the proposed method is confirmed by simulation and experimental results.