Abstract
A method is proposed for bilateral control of master-slave teleoperation, where the system supports some cooperative action between manual and automatic modes. This control method uses a variable gain which changes the connection of dual modes. The bilateral master arm is usually controlled by a computer using known information, but if it is necessary for a human operator to adjust the course, the computer operation can be intervened by moving the master arm by grasping the grid stronger. More intense intervention by human operation is performed by a larger-variable coefficient which depends on the strength of grasping the grid by the human hand. This control configuration realizes efficient master-slave operations with both simplicity of command and flexibility of skilled human operators.
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