**5.4 Position control using force information**

In order to reduce the force applied to an object operated in cooperative work between the remote robot systems with force feedback, the robot position control with using force information is proposed [17]. The proposed control moves the robot by taking advantage of human perception of force direction by experiment. The control finely adjusts the robot position dynamically in the direction where the force is reduced.

Since the remote robot system with force feedback is delay sensitive [26], we apply Skipping to the system at both master and salve terminals. This means that Skipping is applied to the operation with a single remote robot system and that between the two remote robot systems. For the operation between the two remote robot systems, we apply the adaptive reaction force control, adaptive Δ-causality control, and position control using force information for the remote cooperation between two remote robot systems with force feedback. That is, we apply the control for the cooperation between users (i.e., each user operates a haptic interface device to control a remote robot to do collaborative work), and for the cooperation between the user and robot. We also applied the position control using force information for the cooperation between the two robots. We also investigate the effects of the control by experiment.
