Bilateral control for different-sized master and slave devices using position and force scaling

This paper proposes a method for designing a bilateral control system for different-sized master and slave devices with varying position and force scales. In the proposed system, the position scale that is the ratio of the slave displacement to the master one is set to be the inverse of the force scale that is the ratio of the slave force to the master one. Experimental results showed that in the case of hard environment, the environmental mechanical impedance in the slave device side can be recreated in the master device side up to approximately 1 Hz, also in the case of soft environment, up to approximately 3 Hz.