Human/robot interaction via the transfer of power and information signals

The issues of the dynamics and control of human-machine interaction in the sense of the transfer power and information signals are examined, and some research results are briefly summarized. The stability of the extender and human taken as a whole was considered. The small gain theorem was used to determine a sufficient condition for stability in the completely general, unstructured, nonlinear system. Then, a sufficient condition for stability for the linear, time-invariant, frequency-domain model was determined, using the multivariable Nyquist criterion. The stability conditions were given a physical interpretation, which shows that the limit on the gain of the compensator is dependent on the total compliance in the system. The effect of compensation on system performance was shown, indicating that it is desirable to have a large gain for the compensator. However, the stability condition places a limit on compensation, and thus there is a tradeoff between performance and stability