To gain insight into the relative importance of force feedback to ongoing ankle extensor activity during walking in the conscious cat, we isolated the medial gastrocnemius muscle (MG) by denervating the other ankle extensors and measured the magnitude of its activity at different muscle lengths, velocities, and forces accomplished by having the animals walk up and down a sloped pegway. Mathemat...

This paper presents a stability analysis of force-position teleoperation under general end-effector contact. The analysis is based on the finite and infinite zero structure of the multivariable root-locus resulting from modulation of the environment stiffness. The starting point is an analysis of the stability of robot force control, motivated by the observation that the human-operator in a for...

This paper considers whether a passive isometric input device, such as a , used together with visual feedback, could provide the operator with a pseudo-haptic feedback. For this aim, two psychophysical experiments have been conducted. The first experiment consisted of a compliance discrimination, between two virtual springs hand-operated by means of the . In this experiment, the stiffness (or c...

The overall goal of the research conducted in this paper is to develop next generation force feedback systems by combining novel Magnetorheological (MR) fluid based systems with microstructural analysis and advanced control system design. Two MR fluid based telerobotic systems are designed, prototyped and tested with medical applications. Force feedback control is employed to replicate in the m...

Objective. The nervous system subconsciously estimates the state of body as a weighted average information from various sensory sources, where weights reflect perceived reliability each source. Loss motor functions can be partially compensated using assistive systems (e.g. prostheses), which may also restore somatosensory feedback through tactile stimulation. Whether such artificial is integrat...