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

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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.