Salient Behavior Extraction in Construction Machinery Operation Using Motion Propagation Forces

This study proposes a vibration-feedback method to enhance kinesthetic perception while reducing lumbar load during the teleoperation of construction machinery. The an- gular acceleration of the operator’s seat is dynamically esti- mated from joint torques, and salient vibration components are extracted from their decomposed terms. Using the partial Lagrangian method and the concept of motion-propagation force, we isolate the torque component at the base joint induced by the motion of a specific link and analyze its contribution to seat angular acceleration via wavelet transforms. Excavation experiments demonstrate that the extracted component sig- nificantly influences seat angular acceleration, suggesting that selective vibration feedback can preserve operational feel while alleviating operator workload.