Written communication system based on multilateral teleoperation using robust control

This paper considers a written communication system based on a multilateral teleoperation using robust control. First, a pen equipment as an interface of the written communication system is developed. By using the pen equipment, the proposed written communication system based on sharing haptic information is indicated. Next, the non-passive approach is applied to the written communication system. The control objectives obtained from the stability condition and control performance are given. Next, the robust controller design is considered, because the motor of the pen equipment is influenced by the another motor. The pen equipments are modeled as a mathematical equation by the experimental results. A robust controller is designed so as to satisfy the stability condition of the non-passive approach. In the simulation and the experiment, it is verified that the control objectives are satisfied. Writing a character is demonstrated between two clients by using the written communication system in the experiment. As a result, two clients can recognize the character by sharing the haptic information.