Method for controlling master-slave robots using switching and elastic elements

A new type of master-slave control methodology, which has the merits of both unilateral and bilateral ones, is proposed. The methodology is built on switching the unilateral feedback controls of position and force as required using switching and elastic elements. Proposed methodology not only eliminates the demerits of bilateral control, but also supplies the mechanical force feedback to the operator. It utilizes a feature of human factor that direct displacement feedback is not as important as visual and force feedback. Effectiveness of the proposed method is confirmed by experiments using a developed simple single axis master-slave arm system. Driving test of the experimental devices and sensory evaluations are conducted. As a result, it is confirmed that the methodology successfully provides the sense of touch to the operator of the system.