Force feedback control: linear and nonlinear teleoperative systems and applications involving the disabled

The application of theoretical concepts and other principles from studies of force feedback control systems in robotics can be used to better understand a teleoperative system. Within the context of a robotic system, the teleoperation problem can be viewed as a strictly force control system in which the end-effector must maintain a specified force pattern on the environment. An analysis is conducted of a system from an ongoing experiment. This experiment involves disabled people and normals participating in a study to analyze the effect on performance of different types of force feedback algorithms and target tracking tasks