Human behavior modeling in master-slave teleoperation with kinesthetic feedback

In master-slave teleoperation systems the control loop is closed through the human operator. He acts as a controller generating actuating signals based in visual and kinesthetic cues. It is then indispensable to have a model of his behavior in order to design and study this type of systems coherently. Up to now only simplified arm dynamic models have been included in the study of bilateral control schemes. This paper makes use of already existing human-in-the loop models, developed for aircraft piloting, in order to construct a complete and simple model of human behavior for master-slave teleoperation systems with visual and kinesthetic feedback. The model was validated through several experiments with two different master arms and under various circumstances of operation. It includes complete human dynamic behavior: both the generation of control actions and limb dynamics