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Operator dynamics for stability condition in haptic and teleoperation system: A survey
Author(s) -
Li Hongbing,
Zhang Lei,
Kawashima Kenji
Publication year - 2018
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1881
Subject(s) - teleoperation , haptic technology , computer science , stability (learning theory) , transparency (behavior) , simulation , human arm , human–computer interaction , robot , artificial intelligence , machine learning , computer security
Background Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap. Methods The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems. Results Detailed classification and comparative study of various contributions in human arm modeling are presented and summarized in tables and diagrams. Conclusion The main challenges in modeling human arm impedance for haptic robotic applications are identified. The possible future research directions are outlined based on the gaps identified in the survey.