Abstract
Deals with loop-shaping characteristics of a human operator in a manual control system with a force reflective controlling device (controlling lever). The system consists of a dual loop. The inner loop is force based and the outer loop is visual based. In the inner loop, a hand motion control loop, the operator applies a force to the lever to bring its position close to a hand (or lever) position command. In the outer loop the operator generates the command from information of the visual sensation such as a target position. This paper focuses on the inner loop, that is the hand position control system, and investigates its structure and properties. As a result, loop-shaping characteristics of a human operator in the hand motion control system are discovered. The characteristics correspond to the crossover model, well-known operator's characteristics in manual control systems based on visual sensation. Further, it is confirmed that the discovered characteristics of the operator are explainable by the structure of the proposed model.
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