Tracking control properties of human-robotic systems based on impedance control
Tracking control properties of human-robotic systems based on impedance control
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DOI：
10.1109/tsmca.2005.850603
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发表时间：
2005-07
期刊：
影响因子：
--
通讯作者：
T. Tsuji;Yoshiyuki Tanaka
中科院分区：
文献类型：
--
作者：
T. Tsuji;Yoshiyuki Tanaka
在设计人机交互系统时，应充分考虑操作者的动态特性和控制能力。本文利用阻抗控制机器人对人-机器人系统进行了手动跟踪控制试验，并根据机器人的阻抗特性研究了人类操作员的控制特性。实验结果表明，人类试图通过调整自身的阻抗特性来保持整个系统的动态特性尽可能恒定。然后，基于人体跟踪控制特性的实验结果，构建了一种新的基于神经网络的人-机器人系统操作训练系统。
Human-robotic systems that include interaction between human operators and robots should be designed with careful consideration for the dynamic property and control ability of a human operator. This paper performs manual tracking control tests on a human-robotic system using an impedance-controlled robot, and investigates control characteristics of a human operator according to the robot impedance properties. Experimental results demonstrate that humans try to maintain dynamic properties of an overall system as constant as possible by adjusting their own impedance properties. Then, a new training system using a neural network for operating a human-robotic system is constructed on the basis of the experimental findings in the human tracking control properties.