The high probability of a future environment featuring human–robot coexistence is motivating studies on man–machine interface safety. Bilateral control that enables contact including haptic sensations to distant locations through master–slave actuators is an emerging technology in the fields of human tele support, care, and assistance. This paper proposes a safe operating technique for bilaterally controlled robots based on environmental properties. This technique protects the remote environment from excess force applied by the master operator. We have described the operation as the normal mode and safe mode. The system follows four-channel acceleration-based bilateral control throughout normal mode operation. The safe mode operation corresponds to virtual environmental sensation of the master operator together with force-position limitation on the slave side. In this work, a conventional virtual stiffness controller was modified to overcome the loss of environmental sensation from the remote slave side. Precise simultaneous force-position control is achieved on the slave side by focusing on the object safe force limit. The modified method is applied to the bilateral controller preserving the common mode force servoing property. The proposed method is validated using experiments.

具有人机机器人共存的未来环境的可能性很高，这促使人们对人机界面安全性进行研究。双向控制能够通过主从驱动器实现包括远处的触觉在内的接触，这是人类远程支持，护理和协助领域的新兴技术。提出了一种基于环境特性的双边控制机器人安全操作技术。此技术可保护远程环境免受主操作员施加的过大压力。我们将操作描述为正常模式和安全模式。该系统在正常模式下始终遵循基于四通道加速度的双向控制。安全模式操作对应于主操作员的虚拟环境感觉以及从属端的受力位置限制。在这项工作中，对传统的虚拟刚度控制器进行了修改，以克服远程从机侧对环境感觉的损失。通过关注对象安全力极限，可以在从机侧实现精确的同时力位置控制。改进后的方法应用于保留共模力伺服特性的双边控制器。实验验证了该方法的有效性。改进后的方法应用于保留共模力伺服特性的双边控制器。实验验证了该方法的有效性。改进后的方法应用于保留共模力伺服特性的双边控制器。实验验证了该方法的有效性。