Target object color-based force feedback compensation control in master-slave systems

Abstract

Visual color information is thought to affect human perception. This study proposes a master-slave system that performs force feedback compensation control based on the color of the target object. In this system, the ratio between forces exerted during tasks performed on dark and bright objects is used as a compensatory gain in the feedback force. The system is designed to maintain task consistency by ensuring a constant magnitude of force exerted during a task, even when the color of the target object varies. Basic experiments demonstrated that operators exert different forces on objects of the same weight but different color; in particular, the brightness of an achromatic object affects human perception of the force applied to it. In verification experiments, the difference between the force exerted on same-weight bright and dark colored objects by a master-slave system with no color-based compensation control was 2.24 N. Implementing the proposed control system, this difference was improved to 0.61 N. Therefore, this system can potentially ensure consistent work during tasks involving target objects of different colors.