A synchronization method of visual and tactile information by virtual slave model in bilateral control

Abstract

This paper proposes a synchronization method of visual and tactile information by using a virtual slave model in a bilateral control. Considering an actual remote-operated system, an operator operates a master system while watching visual information that is sent from a slave side. However, transmission of position, force, and visual information has communication delay. This is because the slave system on the image moves later than the actual slave system. This communication delay gives a bad effect on operability in the bilateral control. Therefore, the synchronization method of visual and tactile information is important. From this viewpoint, visual and tactile information in bilateral control is synchronized by using the virtual slave model. This virtual slave model is overlaid on the image from the slave side. The operator operates the master system while watching the virtual slave model overlaid on the image. As a result, the operability is improved, since the virtual slave model helps the communication delay of visual information. The effectiveness of the proposed system was confirmed form the experimental results.