Task Sharing and Intervention in Human-Robot Cooperating System

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This research is concerned with task sharing and intervention in human-robot cooperating systems. We have obained the following results.(1) We have proposed a new framework of human-robot cooperating systems where six operation modes for cooperating between manual operation and autonomous functions are introduced.(2) We have developed a prototype of the mode selection device, where three toggles switches are implemented. This device enable us to change smoothly the operation modes.(3) We have made one DOF experimental system and confirmed the validity of the proposed operation modes and the mode sequence by some exreiments. In addition, we have investigated the performance of the proposed system for some simple tasks.We have pointed out that more easy-to-use devices for mode selection should be developed and the human-robot cooperating system should understand the operator's intention in various situations. In addition, we have given some results on a micro teleoperation system for compensating scaling effects, and human-interface in terms of virtual operator systems.