Control System Design of Human-Machine Cooperation Systems to Ease Skillful Works

人机协作系统控制系统设计，轻松技工

• 批准号: 11650442
• 负责人: MATSUO Yoshiki
• 金额: $ 2.37万
• 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: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11650442/
• 关键词: human-machine cooperation system; maneuverability; easing skillful works; tool dynamics; maneuver transfer function; passivity; open loop shaping; electromyogram; 人間-機械協調; 熟練作業; 容易化; 作業精度

This study was carried out for the purpose of developing control system design method of human-machine cooperative systems with good maneuverability as an operator can achieve a skillful work easily. Its results are as follows.1. It was found out and experimentally confirmed that human-machine cooperative systems designed to transfer a object dynamics variation to the operator with magnification could make some difficult task easy.2. As foundation of general design control system method of human-machine cooperative systems considering their maneuverability a general structure of the system premising stability of their tool dynamics and maneuver transfer functions was presented, and parameterization of four transfer functions of the system that have great relevance to maneuverability is derived.3. It was found out that under certain conditions where the operator feels good maneuverability, he/she tend to act actively on the contrary to a conventional assumption that he/she always acts p … More assively in the human-machine cooperative systems.4. Real time estimation of human muscle fatigue using a frequency spectrum of electromyogram was investigated, and Modified Slow Wave Ratio method was developed so that the estimation could be used in human-machine cooperative systems.These results are very valuable for the establishment of a control system design theory for human-machine cooperative systems considering their maneuverability.As a future work, we plan to expand these results with study of following subjects.1. Applying the control system design method for human-machine cooperative systems to ease recognition of object dynamics variation to more practical tasks with multi degree of freedom, we will confirm validity of the method.2. Based on the general structure of the system premising stability of their tool dynamics and maneuver transfer functions, we will develop a new design method for the control system that can specify transfer characteristics of the system that have great relevance to maneuverability. Less

本研究的目的是开发具有良好的可操作性的人机合作系统的控制系统设计方法，因为操作员可以轻松地实现熟练的工作。研究结果如下：1.研究发现并通过实验证实，将物体动力学变化传递给操作者的人机合作系统可以使一些困难的任务变得容易.作为考虑机动性的人机协同系统总体设计控制系统方法的基础，给出了考虑工具动力学稳定性和机动传递函数稳定性的系统总体结构，并推导了与机动性密切相关的四个系统传递函数的参数化.结果表明，在操纵者感觉操纵性良好的条件下，他/她倾向于主动行动，而不是传统的假设，即他/她总是主动行动。 ...更多信息 积极参与人机协作系统.研究了基于肌电信号频谱的人体肌肉疲劳的真实的实时估计方法，并提出了改进的慢波比方法，使之能应用于人机协同系统中.这些结果对于建立考虑可操作性的人机协同系统控制系统设计理论具有重要意义.作为进一步的工作，我们计划通过以下主题的研究来扩展这些结果。将人机合作系统的控制系统设计方法应用于更实际的多自由度任务中，使目标动力学变化的识别变得容易，从而验证了该方法的有效性.基于系统的一般结构、刀具动力学的稳定性和机动传递函数，我们将开发一种新的控制系统设计方法，该方法可以指定与机动性有很大关系的系统传递特性。少

项目成果

Takeshi INABA: "On Parametrization of Control Systems for Human-Machine Cooperative Systems Stabilizing Their Tool Dynamics and Maneuver Transfer Functions"SICE 2002. (投稿中).

Takeshi Inaba：“关于人机协作系统控制系统的参数化，稳定其工具动力学和机动传递函数”SICE 2002。（进行中）。

Kenichirou TANAKA: "Real time Estimation of Muscle Fatigue Measure from Electromyogram for Application to Human-Machine Cooperative Exercise Systems"SICE2000. 302 A-5 (2000)

Kenichirou TANAKA：“根据肌电图实时估计肌肉疲劳测量，应用于人机协作运动系统”SICE2000。

Takafumi SONOURA: "Passivity Analysis of a Human Operator in a Human-Machine Control System Considering Maneuverability"SICE 2002. (in printing).

Takafumi SONOURA：“考虑可操作性的人机控制系统中人类操作员的被动性分析”SICE 2002。（印刷中）。

林崎 昌弘: "作業対象の特性変化を認識しやすくする人間-機械協調制御系"計測自動制御学会第38回学術講演界予稿集. 481-482 (1999)

Masahiro Hayashizaki：“使识别工作对象特性变化变得更容易的人机协作控制系统”第38届仪器与控制工程师学会学术会议论文集481-482（1999）。

田中健一郎: "人間-機械協調運動系への応用のための表面筋電位による疲労指標の実時間検出"計測自動制御学会第39回学術講演会予稿集. A-5. 302 (2000)

Kenichiro Tanaka：“利用表面肌电势实时检测疲劳指数在人机协调系统中的应用”第39届仪器与控制工程师学会学术会议论文集A-5。