Tele-operating a UAV using haptics - modeling the neuromuscular system

This paper describes a theoretical study on the use of an artificial force field in a collision avoidance system to generate force feedback to a neuromuscular arm. The study involves two separate tasks. The first task identifies the intrinsic and reflexive parameters of the human neuromuscular arm model. The second task is to include the neuromuscular arm model in closed-loop offline simulations in order to achieve more insight into the human-machine interaction, when applying haptic feedback. Results indicate that the human neuromuscular arm model responds well to the force feedback generated by the artificial force field and offers the possibility to tune the force field in order to achieve good performance without excessive control activity.