Realization of emphasis and restriction on specific element of human motion by bilateral modal control with variable transmission ratio

This paper proposes the variable transmission ratio for the bilateral control based on modal decomposition. The bilateral control with modal decomposition is designed on the basis of each independent element of the human motion and/or the spatial information of the real environment. In this paper, the motion of the master-slave system with two degrees of freedom is decomposed into the manipulation mode and the grasping mode. These modes are theoretically independent each other. Then, the proposed variable transmission ratio makes it possible to emphasize and/or restrict the transmission of the specific mode. As a result, the proposed method realizes the emphasis and restriction on specific element of the human motion. Finally, the experimental results are shown to verify the validity of the proposed method.