Workspace-based controller design and performance evaluation of MDOF force sensorless bilateral system

Ryosuke Horie, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


Redundant multi-degree-of-freedom (MDOF) bilateral system in workspace is expected to be a key technology for the development of next-generation robots because of the variety of feasible tasks. Nowadays, four-channel bilateral structures based on acceleration control have been introduced to realize both position and force tracking in a bilateral control system. Additionally, torque observers have been implemented to facilitate force feedback without the use of torque/force sensors. However, differences in controller composition between the joint space and workspace are still unclear. In particular, observer designs in both spaces are important for a realization of torque/force sensorless bilateral control. This paper presents a performance evaluation of an MDOF force sensorless bilateral system performed by considering the design space of observers by numerical and experimental analyses. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 70-80, 2014; Published online in Wiley Online Library ( DOI 10.1002/eej.22481

Original languageEnglish
Pages (from-to)70-80
Number of pages11
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Issue number4
Publication statusPublished - 2014 Mar 1


  • bilateral system
  • force sensorless
  • multi-degree-of-freedom
  • observer
  • operability
  • workspace

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering


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