Assistance control on a haptic system for human adaptive mechatronics
Assistance control on a haptic system for human adaptive mechatronics
复制标题
人类自适应机电一体化触觉系统的辅助控制
DOI：
10.1163/156855306776014349
复制
发表时间：
2006
影响因子：
2
通讯作者：
F. Harashima
中科院分区：
文献类型：
--
作者：
Satoshi Suzuki;K. Kurihara;K. Furuta;F. Harashima
通过触觉界面给人以自然的操作感觉不仅需要复杂和直观的机械设计，还需要适当的控制系统设计。然而，大多数触觉系统隐含地要求人类在他/她能够感受到触觉设备之外的虚拟空间和/或远程呈现之前习惯于操纵触觉设备。基于人在回路系统的新概念--人自适应机电一体化（HAM），讨论了力/视觉交互式触觉系统的辅助控制问题。建议的辅助控制方案包括在线估计操作员的控制特性，和“力辅助”功能，根据所确定的技能水平的支持率的变化实施。我们开发了一个HAM触觉设备测试系统，进行了评估实验，并分析了测量数据。据证实，操作员的技能，可以充分估计和操作员的性能得到提高的辅助控制。
Giving a natural operational feeling to a human via a haptic interface requires not only a sophisticated and intuitive mechanical design, but also an appropriate control system design. Most haptic systems, however, implicitly demand that the human gets used to manipulation of the haptic devices before he/she can get the feel of the virtual space and/or telepresence beyond the haptic device. Based on a new concept of a human-in-the-loop system called Human Adaptive Mechatronics (HAM), an assist-control for a force/vision interactive haptic system is discussed in this paper. The proposed assist-control scheme includes online estimation of a operator's control characteristics, and a 'force assist' function implemented as a change in the support ratio according to the identified skill level. We developed a HAM haptic device test system, performed evaluation experiments with this apparatus and analyzed the measured data. It was confirmed that the operator's skill could be estimated sufficiently and that operator's performance was enhanced by the assist-control.
DOI：
10.1109/cdc.2003.1272824
发表时间：
2003-12
期刊：
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)
影响因子：
--
作者：
K. Furuta
通讯作者：
K. Furuta