The transformation of modified 4-channel architecture

Yasuhito Sumiyoshi, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

16 Citations (Scopus)


Bilateral control, the technology of teleoperation with force feedback, is progressing rapidly and has a field with an important application in space, oceanic engineering, medical, and so on. Many researchers have employed velocity, force or impedance information to propose a variety of bilateral control. As a conventional bilateral control, position-position, force-position architecture are known. But, these architecture was only intuitive and did not have a clear performance index. HANNAFOD, LAWRENCE and so on had been established a clear design method based on transparency by using H matrix and four-channel architecture. And among the control architectures that incorporate velocity and force feedforward, 4-channel architecture has shown perfect transparency in ideal condition. Futhermore, by using a local force feedback, one can counteract a impact force imposed by operator or the environmen force reflection. But, it seems that this modifed 4-channel architecture does not show the effect of local force feedback well from the point of view of visual. In addition, like a parallel control and a compliance control, control architecture which have a part where force infomation is converted into position information through filter cannot be expressed clearly in this architecture. So, I had transformed 4ch architecture to make these control laws easy to evaluate. I introduce the transformation of modified 4-channel architecture to clarify the meaning of local force feedback, and to express the above-mentioned controller clearly.

Original languageEnglish
Number of pages6
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28


OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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