A virtual reality simulator with haptic (sense of touch) feedback was developed to simulate the control of
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A virtual reality simulator with haptic (sense of touch) feedback was developed to simulate the control of a submarine driven through a joystick input. Operator haptic feedback is provided through joystick position constraints and simulator movement (Karkoub, 2010). Figure P5.38 shows the block diagram of the haptic feedback system in which the input uh is the force exerted by the muscle of the human arm; and the outputs are ys, the position of the simulator, and yj, the position of the joystick.
a. Find the transfer function Ys(s)/Uh(s).
b. Find the transfer function Yj(s)/Uh(s).
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