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 angular acceleration of the operator’s seat is dynamically estimated 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 significantly influences seat angular acceleration, suggesting that selective vibration feedback can preserve operational feel while alleviating operator workload.