Loop-shaping characteristics of a human operator in a force reflective manual control system

Deals with loop-shaping characteristics of a human operator in a manual control system with a force reflective controlling device (controlling lever). The system consists of a dual loop. The inner loop is force based and the outer loop is visual based. In the inner loop, a hand motion control loop, the operator applies a force to the lever to bring its position close to a hand (or lever) position command. In the outer loop the operator generates the command from information of the visual sensation such as a target position. This paper focuses on the inner loop, that is the hand position control system, and investigates its structure and properties. As a result, loop-shaping characteristics of a human operator in the hand motion control system are discovered. The characteristics correspond to the crossover model, well-known operator´s characteristics in manual control systems based on visual sensation. Further, it is confirmed that the discovered characteristics of the operator are explainable by the structure of the proposed model