Human-machine control model approach to enhance operator skills

Antunes, Rui; Coito, Fernando; Duarte-Ramos, H.

doi:10.1109/icmet.2010.5598392

Cited by 7 publications

(5 citation statements)

References 13 publications

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“…Frequency analysis experimental procedures and results fall beyond the size of this paper, and were already described in detail in previous work [11], [12].…”

Section: Methodsmentioning

confidence: 99%

A Linear Approach towards Modeling Human Behavior

Antunes

Coito

Duarte-Ramos

2011

Technological Innovation for Sustainability

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The human operator is, no doubt, the most complex and variable element of a Mechatronics system. On simpler manual control tasks, a linear model may be used to capture the human dynamics, however experiences on human operator response during pursuit manual tracking tasks, show that the dynamics of the human operator appear to depend on the specific task that the subject is asked to perform. This means that a unique truly human model cannot be completely achieved. Rather, a different set of models, each for a certain class of task, seems to be needed. This ongoing PhD work introduces several approaches on the human operator dynamic characteristic modeling and identification procedures, which may be useful for developing improved "humetronic" systems, i.e. human-machine systems which may be able to adapt themselves to the skill level of humans, aiming, with reduced effort, to achieve for best performance and safety.

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“…Frequency analysis experimental procedures and results fall beyond the size of this paper, and were already described in detail in previous work [11], [12].…”

Section: Methodsmentioning

confidence: 99%

A Linear Approach towards Modeling Human Behavior

Antunes

Coito

Duarte-Ramos

2011

Technological Innovation for Sustainability

Self Cite

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“…However, it was been shown that linear models can still be used as a way to capture some of the relevant characteristics of human-machine systems, specially in simple servo/regulator manual control tasks [12]. Previous 1-D tracking experiments have also revealed that the human dynamics cannot be fully described with a single LTI model [13]. Moreover, in any manual task the operator closes the loop between sensing and acting, which makes harder to obtain the open-loop models involved.…”

Section: Research Contribution and Innovationmentioning

confidence: 99%

“…By adopting this approach, the human-machine MIMO system may be modeled from two independent linear transfer functions, leading to a diagonal state-space dynamic matrix pattern. Each axis input-output transfer function can then be experimentally obtained from several pursuit manual tracking experiments, using the frequency analysis methods already developed in previous work [13] , [14], [15].…”

Section: The Human-machine Modeling Strategymentioning

confidence: 99%

“…The frequency analysis method was used to obtain each of the axis input-output transfer functions, assuming a human-machine linear time-invariant (LTI) approximation. According to the procedure described in [13] for SISO modeling, a reference (target) signal x(t) is produced for the human operator to track, and y(t) is the equivalent linear human response. The target signal x(t) is built from a set of certain multiple frequencies, chosen in order to cover the manual operation frequency spectrum.…”

Section: The Human-machine Modeling Strategymentioning

confidence: 99%

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Improving Operator Performance through the Use of a Multivariable Human-Machine Control Strategy

Antunes

Coito

Duarte-Ramos

2012

Technological Innovation for Value Creation

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Most of the mechatronics equipments and gadgets that we all nowadays rely on incorporate some kind of multidimensional human-machine systems. There is an increasing concern for improving the usability, performance, ergonomics and safety of such devices, and ultimately this will lead to the mass-production of next-generation intelligent machines, which will be capable to assist the human operator and to reduce the global effort by estimating and measuring its skills. This ongoing work introduces a novel human-machine multi-dynamic modeling methodology which can be applied on the development of these Human Adaptive Mechatronic (HAM) machines, able to adapt to the skill/dexterity levels of its users, and to enhance Human's proficiency. As a new strategy for model development, a number of twodimensional independent pursuit manual tracking experiments are evaluated. A human-machine state-space linear model is obtained and successfully applied to design an improved closed-loop multivariable control structure.

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“…Fawaz et al (2018) assessed human skill by using convolutional neural networks. On the other hand, Antunes et al (2010), Lu et al (2014) and Granados et al (2017) have developed control algorithm for human-machine cooperative system based on human skill.…”

Section: Introductionmentioning

confidence: 99%

Design of varying control based on human’s motion proficiency for human - machine cooperative system under physical interaction

Okada

Taneichi

2022

Mechanical Engineering Journal

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Physical training enables us to recover from disability in rehabilitation or to acquire motion skill. So far, many devices that assist human's motion such as power assist suit have been developed. However, these devices do not consider human's proficiency level or recovery degree, therefore some adjustments of the device i.e. how much the device generates its force, will be required according to the human's proficiency level. In this paper, focusing on stabilization of an inverted pendulum, we propose a varying controller design method that changes its contribution for stabilization based on human's proficiency level. The controller is designed based on Model Predictive Control (MPC) for fast on-line calculation. Human's proficiency level is calculated from convergence level of the inverted pendulum system. The convergence level is obtained by a norm of state variables which is coordinate-transformed so that its norm decreases monotonically according to convergence. Based on human's proficiency level, the controller is designed to change its contribution. Experimental results show the degree of controller contribution is decreased for high skilled subjects and increased for low skilled subjects.

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Human-machine control model approach to enhance operator skills

Cited by 7 publications

References 13 publications

A Linear Approach towards Modeling Human Behavior

A Linear Approach towards Modeling Human Behavior

Improving Operator Performance through the Use of a Multivariable Human-Machine Control Strategy

Design of varying control based on human’s motion proficiency for human - machine cooperative system under physical interaction

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