关键词：现实世界襻；双向控制；运动控制；随机扰动
摘 要：This paper proposes a novel filtering method to reduce the stochastic disturbance in the modal space. Recently, macro-micro manipulation is expected to be applied to medical fields, especially cell manipulation. In conventional study, a scaling bilateral control was presented as the one of the key technologies for micro manipulation with feedback of haptic information. However, the quality of haptic information deteriorates by the influence of stochastic disturbance such as quantization noise because of the interference between the macro-space and micro-space. To solve this problem, a modal filter that compensates for interfered terms in each space is proposed. By dealing with the random variable as a mass fluctuation, the interference term of the stochastic disturbance to the master system can be clarified. By using the proposal, it is possible to reduce the variance of random variable and extract the expectation value. Finally, the validity of the proposed method is confirmed by simulation and experimental results.