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

本研究项目旨在为“人机合作系统”开发一种有效的操作辅助方法及其控制设计准则，在该系统中，受控的动力机器由操作员直接进行物理操作。首先，在已有实验系统的基础上，开发了可实现2维3自由度操作的协同任务模拟器。然后，在3年的时间里进行了如下所述的3个主题的调查。实验分析了人机协作系统中操作人员在二维和三自由度任务下的动态自成形特性。结果表明，当控制系统的设计使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。刀具传递函数作为影响机动性的关键因素，对目标动力学变化的灵敏度函数进行了重点研究。提出了一个示例任务，在该任务中，要求操作员通过倾斜梁来稳定能够在梁上自由滑动的钟摆。通过对灵敏度函数的频率特性进行合理设计，在低频处抑制增益，优先考虑视觉信息，从而提高任务性能。研究了辅助多自由度刀具熟练操作的方法。示例任务是这样的，一个人类操作员应该在一个旋转的刨床对象上生成一个封闭的曲线工具轨迹。通过引入刀具运动约束以及视觉和动觉反馈，有效地提高了任务性能。这些研究结果有望为人机协作系统的控制设计奠定良好的基础，从而在各个领域中实现以人为中心的对人类操作者自愿技能任务的出色辅助。

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.