Energy bilateral control for a new control scheme

Abstract

Bilateral control enables human to transmit body sensation to remote area. Bilateral control gives a sense of existing without movement of body, and realizes pseudo-teleportation to everywhere. Bilateral control technology produces a sense of expansion of a body, so this technology is needed to apply to multi-DOF or non-mechanical systems. To expand the range of application, the scheme of bilateral control needs to be more general. The basic law of energy bilateral control is energy conservation law, which is the first principle for all physical systems. This paper proposes energy bilateral control as a generalized bilateral control. Energy bilateral control is an explicit energy control, which enables different structural systems to be implented bilateral control. Energy bilateral control also show a new interpretation about bilateral control: hybrid of internal energy and power flow control. The effectiveness of the proposed methods is verified by experimental results.