Cranes are used all over the world in thousands of industrial complexes such as shipyards, construction sites, steel mills and warehouses. These structures have oscillating nature; hence the sway of the payload or hook makes precise positioning difficult for a human operator. The reduction of payload oscillation for cranes is a challenge for human operators when trying to move payloads quickly, accurately and safely.
This thesis proposes a new approach to the utilization of input shaping. The present work extends previous research by involving force feedback. The modified control signal from the input shaper is feeded back to the operator via force feedback. This structure has two main attribute: the operator has the opportunity to overwrite the signal from the shaper and the effect of shaping is smaller because of the human reaction time and mistakes. Two groups of operators solved the same manipulation task with a crane simulator to compare the effect of the force-feedback based input shaping technique. The results showed that the force-feedback based input shaping had advantages but the average task solving time was higher with using force feedback during the examination. Analysis of the results showed the complexity of using force as feedback in the introduced simulation environment.