Stiffness transmission of scaling bilateral control system by gyrator element integration

Bilateral control is one of the methods to transfer remote environmental haptic sense to the operator. The conventional bilateral control design contains a problem in transmitting correct environmental haptic sense when velocity information is transferred in a scaling manner. This paper proposes a novel bilateral control design integrating gyrator element to improve tactile sense transmission under velocity scaling. The problem is explained in two velocity scaling values, namely, constant value scaling and scaling with derivation. The proposed method is effective in both of the scaling methods. Analyses and experiments are performed to clarify the effect of the proposal.