Tracking Control Properties of Human-robot Systems.

Abstract

Abstract-Human-robotic systems that include interaction between human operators and robots should be designed with careful consideration for the dynamic property and control ability of a human operator. This paper performs manual tracking control tests on a human-robotic system using an impedance-controlled robot, and investigates control characteristics of a human operator according to the robot impedance properties. Experimental results demonstrate that humans try to maintain dynamic properties of an overall system as constant as possible by adjusting their own impedance properties. Then, a new training system using a neural network for operating a human-robotic system is constructed on the basis of the experimental findings in the human tracking control properties.

Design of assist system which considers interaction with steering operation

“…Generally, human changes his operation to keep the control characteristics of the man-machine system constant even if the controlled system's characteristics change [7]. From previous studies [2] [3], it is known that the steering operation varies according to the assist system however behavior of a vehicle operated by a driver changes relatively little with or without the assist system in a flat calm.…”