Synchronization of bilateral teleoperation systems using state and force observer

This paper addresses a synchronization scheme of bilateral teleoperation systems using state observer. Utilizing state observer removes the use of force sensors, and thus enables us to reduce the hardware installation at master and slave devices. The position and velocity of master and slave devices are estimated via state observer, and these estimated states are synchronized by means of Lyapunov stability analysis. Through a numerical simulation, the validity of the proposed method is evaluated.