Human/robot interaction via the transfer of power and information signals. II. An experimental analysis

For pt.I see ibid., vol.3, p.1632-40. The author presents concepts involving constrained motion of a class of human-controlled robotic manipulators called extenders. Extenders amplify the strength of the human operator, while utilizing the intelligence of the operator to generate spontaneously the command signal to the system. A single-degree-of-freedom extender has been built for theoretical and experimental verification of the dynamics and control involved in this hardware. The system performance is defined as the amplification of the human power. It is shown that the more amplification is required, the smaller is the stability range of the system