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This paper proposes the novel system of force sensation recorder (FSR) that is able to abstract force sensation from the real environment, and to reproduce it as well. The proposed acquisition system has three modes. That is to say these are the abstraction mode, the reconstruction mode, and the reproduction mode. At first, in the abstraction mode, a master–slave system is composed and the law of action and reaction is attained by bilateral control. Then, the environmental information is abstracted from the real environment. The block diagram of the abstraction mode is shown in Fig. 1. Secondly, in the reconstruction mode, the environment is reconstructed by the proposed modeling method based on the stiffness and the viscosity. Finally, in the reproduction mode, the only master system is composed. Then, the operator feels force sensation that is reproduced by the FSR. The block diagram of the reproduction mode is shown in Fig. 2. The experimental results are shown in Fig. 3. From Fig. 3(a), (b), (c), it turns out that the bilateral control is achieved perfectly in the abstraction mode. The environmental impedance of the rubber is abstracted as Fig. 3(d), (h). In the reconstruction mode, the dynamical parameters of the rubber are approximated as ke = 2450, de = 140. Finally, in the reproduction mode, being based on the reconstructed

Bilateral Motion Control for Reproduction of Real World Force Sensation based on the Environmental Model