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In this paper, we handle the switching control, which we previously proposed as stabilization control. We investigate the effect of the switching control on cooperative work between two remote robot systems with force feedback. We also examine the influence of the network delay on hand delivery of an object as the cooperative work by experiment. In each system, a user can remotely manipulate a robot arm having a force sensor by using a haptic interface device while watching video. In our experiment, the user hand-delivers (or receives) an object between the two robot arms under the switching control and no stabilization control. Experimental results illustrate that the switching control is effective in the cooperative work, and the average work time increases as the network delay becomes larger.

Effect of Stabilization Control on Cooperative Work between Remote Robot Systems with Force Feedback