In order to solve the problems of modern society, it is important to improve the quality of democratic citizens such as democratic attitude and function and for example, reasonable and democratic ability to solve problems, the capacity for decision-making, the dignity of man, communication, and compromise. If the network simulation game for education that has the advantages of simulation and the game and network are used, it may be helpful for the education of democratic citizens for improving the quality of democratic citizens. In this research, the flexible database manipulating tool is added to make use of the game corresponding to the level of the learner and the needs of teacher and situation, unlike existing games.

In the previous works, we have proposed new control schemes based on the sliding mode control and impedance control in order to cope with varying time delays. However, the previous controller needs local compliance to reduce contact forces between the slave and environment. In this paper, we modify the previous one to have a sliding surface for the slave include an impedance model. Since the nonlinear gain of the sliding controller is independent of the time delay as in the previous proposed controllers, it is not necessary to measure or estimate the time delay to implement the controller. The validity of the proposed control scheme is demonstrated by experiments with a 1-DOF master/slave system connected through the Internet.