This paper proposes a method to calculate operational force in time-delayed 4-channel bilateral control systems. In 4-channel bilateral control systems, operational force becomes unnecessary force for haptic sense transmission. Under timedelay, it is known that this force becomes larger than the force without time-delay. In this paper, it is shown that new force, communicative operational force, is generated in time-delayed 4-channel bilateral control, and a method for calculating the force is proposed. Furthermore, well-known conventional time-delay compensation methods, 3-channel bilateral control and CDOB, are interpreted from the view of communicative operational force. The validity of the proposed method is verified by some experiments.

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In this paper, force-based control scheme for stable contact motion is proposed. In recent days, haptics is one of major topics in robotics field. Especially teleoperation with haptic feedback has been studied for long years, but problem of time delay still exists. Time delay causes three problems : operational force, oscillating motion, and degrading of contact stability. Some conventional approaches tried to compensate delay of position by using compensator, however degrading of contact stability is not mentioned sufficiently. And conventional approach using some compensator degrade adaptability for target object. From this point of view, this paper aims to keep adaptability and improve contact stability in time delayed teleoperation.

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