On Human Cooperative Control based on Analysis of Self-shaping Characteristics of Human Operator in a Human-human Cooperative Manual Control System

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For the purpose of developing effective control methods for robotic or mechanical systems which assist human physical tasks, a simplified cooperative manual control task performed by two human workers is analyzed by experiments using a newly developed simulator. Thereby, a basis of a method to analyze relationships between personal characteristics of each worker and performance of pairs is established. Then, a method to identify time-varying systems is proposed, which is useful in investigating time-varying behavior of human workers and whose validity is confirmed through simulations and experiments. Finally, three types of new model tasks are proposed and verified their feasibility by simulation, which are expected to be effective in future studies on cooperative task assist schemes.