Question: To exploit the strength advantage of robot manipulators and the intellectual advantage of humans, a class of manipulators called extenders has been examined [22]. The

To exploit the strength advantage of robot manipulators and the intellectual advantage of humans, a class of manipulators called extenders has been examined [22]. The extender is defined as an active manipulator worn by a human to augment the human's strength. The human provides an input U(s), as shown in Figure P2.45. The endpoint of the extender is P(s). Determine the output P(s) for both U(s) and F(s) in the form
P(s) = T1(s)U(s) + T2(s)F(s).

Performance ilter Human Extender Ho) Gis) B(s) Pis) Stability controller EtS) G.(A) Loud FIGURE P2.45 Model of extender.

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