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Essential surrounding environmental information needed to control remote mobile robots can be garnered from devices such as cameras, and ultrasonic and infrared sensors. Image delay and sensor noise sensitivity may engender inaccuracies in the information collected. Robot control by the user may become difficult. A force feedback controller transmitting a repulsive force to the user can aid recognition of the surrounding environment. This can operate despite the limited image information and uncertain sensor information. It is possible to transmit the magnitude and direction of the repulsive force by a vibration. The controller manages the vibration frequency and the vibration magnitude. A robot displays the information of the surrounding environment on a grid map to calculate the repulsive force of the obstacle. The cells of the grid map are filled with the certainty value of the obstacle. Then, the robot calculates the sum of the repulsive forces of the obstacle by a repulsive force vector calculation. The user can obtain the distance between the obstacle and robot using tactile perception using this method. The user, recognizing the obstacle's distance by the magnitude and duration of the vibration, can navigate the robot at a remote site.

Recently the interface systems which are used in robot control has a each merit and demerit. Currently the joystick which is used widely and the motion-based interface which popularity device recently. In this paper, develop the new human-robot interaction (HRI) device using the advantage of joystick and motion-based device for robot control. This HRI device consists of the bluetooth module, accelerometer, force sensor, speaker and vibration motor. It can be bidirection communication with host computer and recognition user input which uses the motion-based of the user is possible. And it occurs the feedback and a warning sound with the vibration motor and speaker. Also compensates the error of the accelerometer. The result of this purpose device can be improves the reliability of input device system using force sensor.

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