Identification approach for the analysis of human-haptic interface coupling

摘要

In this paper, the least squares method (LSM) is proposed as an identification approach for the analysis of human-haptic interface coupling. We present an oscillator used to describe a periodical movement generated by the user while manipulating the haptic device. This model is based on the assumption of a temporary hybrid system (THS) that considers the system formed by the human handling the haptic device as a coupled dynamical system. Then, the identification approach is used to estimate the parameters of the coupled system from position data acquired during real time simulation.