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A design method is proposed of a master-slave system executing a continuous contact task with high maneuverability. We introduce a variable viscosity-ellipsoid that represents the viscosity coefficients of the mechanical impedance model. This model determines the dynamic behavior of the master-slave system. The viscosity parameters of the impedance model are changed according to the characteristics of the ellipsoid. As a result, the damping to the direction of a stiff environment increases and that to the maneuvering direction decreases. In addition, the shape and posture of the ellipsoid are automatically adjusted to reflect the operator\u27s intention. With the experimental results of trace work, we show the validity of the proposed method

Master-Slave System with Automatically Adjusted Impedance Model Using Variable Viscosity Ellipsoid.