Proposal of practical design indices for teleoperation master arm

Research on human arm impedance modeling provides linearized man-machine system model. Though these human-in-the-loop analyses were investigated, few publications appeared for guidance to design a master arm with off-the-shelf components and of multi D.O.F. configuration. In this paper we propose indices which describe task oriented performance. Based on band width and phase margin estimation, we show the validity of these indices for maneuverability and agility evaluation. We also predicted the entire system stability through these models and verified experimentally