Multilateral Motion Control with Transmission Ratio based on Haptic Database

For realization of haptic skill education systems, it is necessary to transmit haptic information to several people. Thus, multilateral control based on bilateral control is suitable for skill education systems. However, it is important 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 haptic transmission ratio. Then, five types of multilateral control are realized by designing the transmission ratio. Additionally, in this paper, multilateral control with transmission ratio based on haptic database is proposed as well. Finally, the experimental results show the viability of the proposed methods.