A scaled teleoperation

This paper describes a basic control structure for scaled manipulation. Tools for scaled manipulation are necessary when one manipulates a target of quite different size from one's body. In such case, the tool has to scale up or down not only 'size' but also 'force' in bilateral way. This paper asserts that 'time scale' should also be considered together with size and force in order to build up an intelligent tool which provides an imaginary work environment as if one can feel one's body size is scaled to the target size. And this paper propose two simple time scaling methods which can be used in bilateral force-position controls.<
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