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Parameter Design of Switched Assist Controller for Man-Machine Cooperative System with Human Behavior Model Based on Hybrid System
| Content Provider | Semantic Scholar |
|---|---|
| Author | Okuda, Hiroyuki Hayakawa, Soichiro Suzuki, Tatsuya Tsuchida, Nuio |
| Copyright Year | 2008 |
| Abstract | Recently, the man-machine cooperative system is attracting great attention in many industrial fields. Although there are many studies focusing on the design of the assist controller, the human model was not explicitly included in the design process. One of the main reasons of this was that the mathematical model of the human behavior often results in a nonlinear complex model, and is not convenient for the design of the assist controller. So far, we have developed a new human behavior modeling technique based on a continuous/discrete hybrid dynamical system (HDS) description. This paper presents a new design strategy of a switched assist controller of a man-machine cooperative positioning task, which is based on the hybrid human behavior model as shown in Fig. 1. In this paper, the positioning task as shown in Fig. 2 was investigated. Two examinees executed the positioning tasks by using power assisted one d.o.f. robot system. The impedance control law was implemented on the robot system, wherein the virtual mass and the damper were 10 kg and 20 Ns/m, respectively. Then, operating force f , slider position x and the velocity v were collected. Based on the collected data profiles, the human behavior model is identified based on the HDS description. First, the number of modes was assumed to be three in the addressed task. Then, the following PWARX model is adopted as the hybrid human behavior model: |
| Starting Page | 810 |
| Ending Page | 818 |
| Page Count | 9 |
| File Format | PDF HTM / HTML |
| DOI | 10.1541/ieejias.128.810 |
| Alternate Webpage(s) | https://www.jstage.jst.go.jp/article/ieejias/128/6/128_6_810/_pdf/-char/ja |
| Alternate Webpage(s) | https://doi.org/10.1541/ieejias.128.810 |
| Volume Number | 128 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
