---
publication_id: "OT-2026-000002818"
title: "Master-slave system and controlling method"
published_at: "2026-09-15T19:15:33.443887Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002818"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j13/025"
  - "b25j3/04"
  - "b25j3/04"
  - "a61b34/37"
  - "a61b34/37"
  - "a61b34/37"
---

# Master-slave system and controlling method

## 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.