Dynamic model and its parameters ascertaining of human operator in force telepresence system based on virtual reality technology

It is put forward that in force telepresence teleoperation system based on virtual reality technology, two kinds of dynamic information transmission patterns of human operator, namely force pattern information transmission and movement pattern information transmission, are realized in the process of that the human operator experiences, transmissions and executes the information. Dynamic model of the human operator is established, and the model is divided into three stages, namely fusion, neural muscle and execution. The methods of ascertaining the model parameters are given, and the experiment research is done. Important foundation is provided by the discussion in the paper for the analysis, design and control of the system.