Multilateral control with haptic transmission ratio

Skill education has been a serious problem in various fields. Since haptic information from the real environment is so important for human advanced skill as well as visual and audio information, the only conventional technology of visual and audio information could not realize accurate skill education. Thus, bilateral control that is able to transmit force sensation from the real environment may become a key technology. Then, multilateral control based on bilateral control that is able to transmit force sensation to several operators is suitable for skill education system. However, it is necessary for application of multilateral control to skill education based on haptic information that the influences from the operators are variable according to the trainee's skill acquisition level. Thus, this paper proposes multilateral control with the transmission ratio that is able to be designed according to the trainee's skill acquisition level. Then, five types of multilateral control are realized by designing the transmission ratio. Finally, the experiments results are shown in order to verify the validity of the proposed method.