Comparison of real environmental models for reproduction of force sensation in bilateral motion control

In recent years, realization of transmission and preservation of haptic information has been strongly desired in various fields. In this paper, force sensation recorder (FSR) system which is able to abstract and reproduce force sensation from the real environment is introduced. However, the conventional reproduction method was based on the environmental impedance model of stiffness and viscosity which were set to the constant value. Thus, reproduction of force sensation was not realized very precisely. So, some real environmental models which are based on approximated curve of the environmental impedance are compared by the experiments. Then, the reconstruction method for reproduction of vivid force sensation is proposed.