Identification and compensation of disturbance for real-world haptics

Recently, the real-world haptics which deals with real-world tactile sense has been actively researched. In the real-world haptics, tactile information is dealt with by an actuator as a disturbance force. Therefore, the effect of other kinds of disturbance such as friction in an actuator should be minimized to extract clearer tactile information. If the disturbance is known in advance, the pure tactile information is able to be observed by compensation of the disturbance. Therefore, this paper proposes a method of determining modeled disturbance-parameter-values of an actuator. The proposed method is achieved by solving an optimization problem using bilateral control and disturbance model. The performance of bilateral control is increased by compensation of the disturbance using the proposal. The effectiveness of the proposed method is shown by experiments.