Transmission of force sensation by environment quarrier based on multilateral control

Seiichiro Katsura, Kouhei Ohnishi, Kiyoshi Ohishi

Research output: Contribution to journalArticlepeer-review

48 Citations (Scopus)


In recent years, realization of a haptic system has been strongly desired in the fields of medical treatment and expert's skill acquisition. The bandwidth of force sensing and friction compensation are very important problems for reproduction of vivid force sensation. In this paper, an environment quarrier is proposed for bilateral teleoperation instead of force sensors. The environment quarrier is a novel force-sensing method that consists of a twin robot system. Two of the same type of robot are required and they are controlled in the same position, velocity, and acceleration by bilateral acceleration control based on a disturbance observer. One robot is in contact motion and the other is unconstrained. The purity of external force is obtained by subtracting the disturbance torque in the unconstrained robot from the constrained one. The environment quarrier can observe the external force with high bandwidth and friction compensation. In this paper, the idea of multilateral control is introduced for attainment of simultaneity. Furthermore, this paper shows the controller design of the multilateral control in the modal space. The experimental results show the viability of the proposed method.

Original languageEnglish
Pages (from-to)898-906
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number2
Publication statusPublished - 2007 Apr
Externally publishedYes


  • Acceleration control
  • Bilateral teleoperation
  • Disturbance observer
  • Environment quarrier
  • Force sensation
  • Haptics
  • Motion control
  • Multilateral control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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