{
  "abstract": "A master-slave system includes: a master unit including an operation end, an operation detector that detects operational information inputted by a force being applied to the operation end, and a force applier that gives a force to the operation end; a slave unit including an action part, and an operation part that moves the action part; and a control device. The control device outputs, according to a regulating condition and the operational information, a command for causing the operation part to operate the action part to carry out operation reflecting the regulating condition. The control device outputs, according to the regulating condition, a command for causing the force applier to give a force to the operation end against the input to the operation end that commands the given movement of the action part.",
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    "KAWASAKI HEAVY IND LTD"
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    "FUJIMORI JUN",
    "KAMON MASAYUKI",
    "KINOSHITA HIROKI",
    "Shimizu Kai",
    "TAKAHASHI HIROKI",
    "TAKAYAMA YUKI"
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  "title": "Master-slave system and controlling method",
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