Identification of Human Feedforward Control in a Cyber Grasp and Twist Task

Abstract:

When mechanical linkages are replaced by electronic communication and control systems, certain undesirable phenomena can arise that may be difficult to anticipate. In simple cases the lack of dissipativity in the cyber link unmasks instabilities that were present but suppressed in the system with a mechanical (physical) link. In more complex cases, there may be no simple physical equivalent to the system containing the cyber link, and a damping coefficient or dissipative element may not be identifiable.