Is the human operator in a teleoperation system passive?
Bibliographic record
Abstract
Conventional approaches for stability analysis of bilateral teleoperation systems assume that the human operator does not inject energy into the system and behaves in a passive manner. Does this assumption hold for various tasks the human operator may execute in a teleoperation context? To answer this question, in this paper we measure the endpoint impedance (inertia, viscosity, and stiffness) of the human arm during two tasks: (1) relaxed grasping of a haptic device while the device imposes position perturbations, and (2) rigid grasping of a haptic device (posture maintenance) while the device imposes force perturbations. The human arm impedance is identified as a 2 × 2 transfer function matrix and assessed for passivity over the frequency range characteristic of human motion. Our results agree with previous findings that the relaxed human arm behaves as a passive system. However, whether the rigid arm behaves as an active or passive system is found to depend on the magnitude of the force perturbations. We discuss why the passivity of the human operator is task dependent.
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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 | 0.002 | 0.010 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.003 |
| Scholarly communication | 0.002 | 0.004 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 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".