A feedback control for a feel regeneration system with linear slider

In this paper, we present the feel regeneration system that uses a linear motor, and propose the feedback control system based on disturbance observer for generating the reaction force from object things. The proposed feel regeneration system consists of the linear slider and the sensing stage that is connected with the base by spring elements. In addition, we can get optical reactive force by controlling the stretch of the spring, which is a cause of producing the reactive force, and we recognize it as a feeling. In particular, the feel that the stage moves without adding the power, i.e., the regeneration of a feeling of the friction-less is the base technology of such a system, and we call this feeling the one like pushing air. The feedback controller realizes this friction-less feeling with the use of disturbance observer, which is proposed in order to estimate and cancel the friction force. The proposed control algorism and the system are experimentally verified by results of simulation.