Man-machine dynamic characteristics related to position and force control tasks in micro-teleoperation systems

Microsurgery and microassembly are some high precision tasks that require the assistance of a micromanipulator. However, in order to manipulate micro objects it is inevitable to consider the scaling effect problem between the worlds with different physical characteristics. Some scaling methods have been proposed, but how the scaling gains affect the human operator performance is still a remaining problem. In this paper, when different transfer function parameters are selected, the effects on the performance and the dynamic characteristics in both visual and force control tasks of the human operator are analyzed.