On analysis of a human-machine cooperative system considering practical factors

First, the authors discuss influences of manipulator dynamics on realizable performance of a human-machine cooperative system (HMCS). Then, experimental analysis is performed on an HMCS with a kinesthetic sensation using an actual spring element as the object. Finally, an HMCS with both kinesthetic and visual sensations is examined to show the difference in the roles of these sensations. This paper investigates influences of the manipulator dynamics on the closed-loop performance of HMCS.