NDLI: Design of a human-machine cooperation system to facilitate skilled work

Content Provider	IEEE Xplore Digital Library
Author	Inaba, T. Hayashizaki, M. Matsuo, Y.
Copyright Year	1999
Description	Author affiliation: Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan (Inaba, T.)
Abstract	This study deals with a design method of a human machine cooperation system that facilitates work requiring a large amount of skill. For example, during cutting work a skilled worker seems to give a great deal of attention to the reaction force from a workpiece to his tool and little variation of characteristics of the workpiece, and seems to adjust his processing force and direction for accomplishing the work. Thereby an appropriate human-machine cooperation that amplifies human sensitivity to variation of characteristics of the object is able to make the work easy. At first in this paper, the human-machine cooperation system that consists of a human, a robot manipulator with a tool and a workpiece is represented as a block diagram. In the system the manipulator is position controlled from two force signals measured at the interface between the human and the manipulator, and between the tool and the workpiece. Then it is indicated that two typical characteristics of the system, transfer characteristics from human force to tool position and its sensitivity function to variation of characteristics of the workpiece, are independently specifiable. Therefore, for example, it is possible that the system is designed simultaneously to increase the human force enabling heavy work with a slight force, and to transfer a small variation of characteristics of the workpiece to the worker with amplification. Finally, some experiments are carried out on the human machine cooperation system that simulates some simplified work.
Starting Page	995
Ending Page	1000
File Size	420314
Page Count	6
File Format	PDF
ISBN	0780357310
ISSN	1062922X
DOI	10.1109/ICSMC.1999.812546
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-10-12
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Man machine systems Humans Manipulators Design methodology Force control Control systems Design engineering Force measurement Drilling Systems engineering and theory
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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