Enhancement of a Telemanipulator Design with a Human Arm Model

摘要

Although current telemanipulator designs [1],[2],[3],[4],[5], succeed in performing their tasks, they are often accused of being tiring, slow, unable to cope effectively with large time delays and providing an obscure feeling of the telemanipulated objects [6]. This is an important drawback for applications such as telesurgery and rehabilitative teleoperation [7]. It in part results from the fact that the modelling of the operator arm and the brain decision tactics, due to their complexity and the ambiguity of models previjously available, are either neglected or overly simplified.