Reproduction of Haptic Sensations For High-Stiffness Environment Considering Mechanical Admittance

This paper focuses on storage and reproduction systems for environmental haptic sensations. A large force vibration is caused by the differential of viscosity momentum in the reproduction system based on force control. To solve this problem, the reproduction system based on momentum control has been proposed in previous our research. The improved reproduction system has a configuration that the momentum control loop is added to the force control loop. The high-stiffness environment in which the actuator does not move cannot be reproduced because the system generates the force command that correspond to the position of the actuator. Hence, this paper newly proposes storage and reproduction systems based on position control considering the environmental mechanical admittance. The proposed system is able to reproduce the environmental information without additional control loop. The effectiveness of the proposed method is confirmed by experiments.