关键词：阻抗控制；双向控制；触觉；运动控制
摘 要：Haptic transmission using bilateral control is used not only for tele-operation of robotic systems but also for extraction and reproduction of human motions. Popularization of the haptic technology causes growing concern about increase in the amount of haptic data of human motions. This study clarifies that conventional bilateral control is equivalent to equilibrium force control of impedance control. In other words, haptic transmission can be realized only by using information of the equilibrium force. The validity of the proposed force-based approach is verified by simulations. The obtained results show the proposed approach achieves the same performance comparing with conventional approach, which requires to transmit position, velocity, and force information. This result shows that the proposed approach succeeded to decrease the amount of haptic data without any shortcomings.