Reproduction of Real World Force Sensation by Bilateral Motion Control Based on Contact Impedance Model Taking Environmental Hysteresis into Account

Although multimedia technological advances are remarkable, the achievement of the additional progress has been required. The one of the keys for this achievement is haptic information. Thus, it is necessary to develop the technology for transmission, preservation, and reproduction of haptic information for the next multimedia communication. This paper introduces the force sensation recorder system that is able to store and replay the force sensation from the real environment. Additionally, the new environmental modeling method that takes environmental hysteresis into account is proposed as well, in order to reproduce real world force sensation more precisely. The experimental results show the viability of the proposed methods