A haptic teleoperation study using wave variables and scaling matrices

@article{Repperger2009AHT,
  title={A haptic teleoperation study using wave variables and scaling matrices},
  author={Daniel W. Repperger and Rodney G. Roberts and Marc Alise and Carl A. Moore},
  journal={2009 IEEE International Conference on Systems, Man and Cybernetics},
  year={2009},
  pages={1-5}
}
A haptics investigation is conducted when human subjects have to deal with a bilateral teleoperation system with two levels of time delay (400 and 1,000 ms) and four types of scaling matrices that provide a passivity form of stabilization. The wave variable method was implemented to produce a controllable human-machine response. What is of interest is the resulting performance that occurs from such systems which remain passive but impacts the overall human tracking performance that can be… CONTINUE READING

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