Bibliographic record
Abstract
The sampled-data nature and time delays induce complex dynamic behaviours in haptic systems which makes the stable, high performance force feedback challenging. Physiological factors, such as reflex delay, and the variable impedance of the human operator further complicate the modeling and analysis of these systems. Often the operator is neglected and only the dynamics of the uncoupled haptic device is investigated. When considered, the human model is typically represented by passive impedance elements attached to the device; most studies employ only simple mass-spring-damper representations. The dynamics of coupled systems with multiple degrees-of-freedom device- and human operator models have not been much investigated. In the present paper, we discuss reduced order, parametric dynamic representations for such complex models. We also consider the coupled system, and demonstrate the effect of the human operator on the combined dynamics. Structural flexibility, different grasping conditions, and active human stabilization with reflex delay are considered. The results are validated and illustrated experimentally by using a haptic device based on a five-bar mechanism.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.005 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".