Human dynamics and stability of teleoperator systems with generalized projection-based force reflection algorithms

A new general stability result for networked bilateral teleoperator systems with projection-based force reflection is presented. Contrary to the previous results, the human operator dynamics are taken into account in the stability analysis. The human dynamics are assumed to satisfy a general condition formulated in terms of finite distance between output of the human dynamics and a certain “passivity-based” stabilizing set. In particular, this assumption allows for both passive and non-passive behaviour of the human operator. The overall stability of the bilateral teleoperator system is proven in the presence of network-induced communication constraints for an arbitrary projection-based force reflection algorithm from a broad class.