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

本研究的目的是开发具有良好可操作性的人机协同系统控制系统设计方法，使操作者可以轻松地完成熟练的工作。研究结果如下：1.研究成果。研究发现并通过实验证实，将物体动力学变化以放大方式传递给操作者的人机协作系统可以使一些困难的任务变得容易。作为考虑其机动性的人机协同系统一般控制系统设计方法的基础，给出了在刀具动力学和机动传递函数稳定的前提下的系统总体结构，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。研究发现，在操作者感觉机动性良好的特定条件下，他/她倾向于采取积极的行动，这与他/她总是表现为p…的传统假设相反在人机协同系统中更加积极主动。研究了基于肌电频谱的人体肌肉疲劳实时估计方法，提出了一种改进的慢波比法，将其应用于人机协同系统中，为考虑人机协同系统的机动性建立控制系统设计理论提供了理论依据。将人机协同系统的控制系统设计方法应用到更实际的多自由度任务中，便于识别对象的动力学变化，验证了该方法的有效性。基于系统的总体结构，以其工具动力学和机动传递函数的稳定性为前提，提出了一种新的控制系统设计方法，该方法可以指定与机动性能密切相关的系统的传递特性。较少

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