Operator dynamics for stability condition in haptic and teleoperation system: A survey.

BACKGROUND: Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap.

METHODS: The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems.

RESULTS: Detailed classification and comparative study of various contributions in human arm modeling are presented and summarized in tables and diagrams.

CONCLUSION: The main challenges in modeling human arm impedance for haptic robotic applications are identified. The possible future research directions are outlined based on the gaps identified in the survey.