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On Control of Human-Machine Cooperation System Paying Attention to Maneuverability for the Operator

注重操作者操控性的人机协作系统控制研究

基本信息

批准号：
15560216
负责人：
MATSUO Yoshiki
金额：
$ 2.24万
依托单位：
Tokyo Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

项目摘要

This research project aimed at development of an effective operation assistance method and its control design criteria for "Human-Machine Cooperation System", in which a controlled powered machine is manipulated physically and directly by a human operator.First, on the basis of a previously equipped experimental system, cooperative task simulator was developed which enables 2 dimensional 3 degree-of-freedom operations. Then, 3 topics of investigation as described below were carried out over 3 years.1. Dynamics self-shaping properties of human operator in a Human-Machine Cooperation System was analyzed experimentally at 2D and 3 dof tasks. As a result, it was shown that better task performance could be obtained when the control system was designed such that the operator can easily shape him/his dynamics.2. As a critical factor for maneuverability, sensitivity function of tool transfer function for object dynamics variation was focused. An example task was proposed in which an operator was supposed to stabilize a pendulum capable to slide freely on a beam by tilting the beam. It was clarified that task performance can be improved when the frequency characteristics of the sensitivity function was designed properly so that the gain is suppressed at low frequencies in order to prioritized visual information.3. Methods to assist a skillful operation of a multi-degree-of-freedom tool were investigated. The example task was such that a human operator was supposed to generate a closed curve tool trajectory on a rotating planer object. Task performance was effectively improved by introducing kinematic tool motion constraint as well as visual and kinesthetic feedback,.These results is expected to make a sound basis for control design of Human-Machine Cooperation Systems which realizes excellent human-centered assist for human operators at voluntary skillful tasks in various fields.

本研究目的在于发展一种有效的操作辅助方法及其控制设计准则，以应用于“人机合作系统”中，在此系统中，一个被控制的动力机器是由一个操作者直接以物理方式操作的。首先，在先前装备的实验系统的基础上，开发了一个可进行二维三自由度操作的合作任务模拟器。然后，在3年内进行了下述3个调查主题。实验分析了人机协作系统中操作者在二维和三维任务下的动力学自成形特性。结果表明，当控制系统设计成操作者可以很容易地塑造他/他的动态时，可以获得更好的任务性能。工具传递函数对目标动力学变化的灵敏度函数是影响机动性的关键因素。提出了一个示例任务，其中操作员应该通过倾斜梁来稳定能够在梁上自由滑动的钟摆。结果表明，当敏感度函数的频率特性设计得当，在低频抑制增益，优先考虑视觉信息时，任务绩效可以得到改善.方法，以协助一个熟练的操作的多自由度的工具进行了调查。示例任务是这样的，即人类操作员应该在旋转平面对象上生成闭合曲线工具轨迹。通过引入运动学工具运动约束以及视觉和动觉反馈，有效地提高了任务绩效，为人机协作系统的控制设计奠定了良好的基础，实现了以人为本的辅助人类操作者完成各种领域的自主技能性任务.