关键词：双向控制系统；范式转换；模态控制
摘 要：The number of degree of freedom (DOF) in an actuator system determine the number of modes it capable of, higher DOF means more modes. On a bilateral control system, if the master system has different DOF from the slave system then the difference of DOF between master and slave will cause a problem since it is impossible to lower DOF system to realize all of the modes of higher DOF system. Bilateral control using different structure system is very useful for controlling a complex system such as finger robot system. By using a master that has a lot of DOF will make the operator feel familiar and comfortable to operate the finger robot, while slave that has little DOF will make the slave robot lighter and smaller. But most of the existed research deal with bilateral control system using master system that has lower DOF than slave system. This study tries to realize bilateral control system using master system that has higher DOF than slave system by a mode based bilateral control system. The proposed method uses transformation matrix to obtain the mode of master and slave system, and then the mode information of both systems will be used to realize bilateral control. The experimental result shows that the proposed method is working.