A real-time sensing and rendering of haptic perception based on bilateral control

In recent years, various haptic devices and sensors have been developed. However, development of the haptic sensor is expensive, and there is a difference in performance between these sensors and haptic rendering devices (For example, measuring method, resolution, maximum measuring force of haptic sensor and maximum rendering force of haptic rendering device, and minimum moving distance, etc.). Therefore, it is difficult to render the difference of haptic impression by the obtained data with haptic sensor. Moreover, traditional researches on the haptic sensing can not measure the various haptic informations such as the shape, hardness, and friction at same time[Okamoto et al. 2012]. Therefore, we develop a real-time sensing method of haptic perception parameter such as the shape, hardness, and friction force, based on bilateral control while feeling the haptic impression.