Operator dynamics for stability condition in haptic and teleoperation system: A survey

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Abstract
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.
Funding Information
  • National Natural Science Foundation of China (51505280)

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