Title :
Control System for Skill Acquisition-Balancing Pendulum based on Human Adaptive Mechatronics-
Author :
Kado, Yuya ; Pan, Yaodong ; Furuta, Katsuhisa
Author_Institution :
Tokyo Denki Univ., Saitama
Abstract :
This paper presents our recently research results on skill acquisition for machine operation. An assistance system with force feedback for skill acquisition is designed. An operation task is to balance an inverted pendulum. For that purpose, a virtual pendulum that is calculated real-time with computer graphics is developed. A human operator manipulates an X-Y stage as the human-machine interface with haptic function. An assistant controller is designed based on the Kawato-model. An experiment result shows effectiveness of this system for developing the skill.
Keywords :
control engineering computing; control system synthesis; force feedback; haptic interfaces; human computer interaction; humanoid robots; mechatronics; multiskilling; nonlinear control systems; pendulums; virtual reality; Kawato-model; X-Y stage; assistance controller design; computer graphics; force feedback; haptic function; human adaptive mechatronics; human operator; human-machine interface; inverted pendulum balancing; machine operation; skill acquisition control system; virtual pendulum; Adaptive control; Computer architecture; Control systems; Error correction; Force feedback; Humans; Inverse problems; Man machine systems; Mechatronics; Programmable control; Assistance System; Human Adaptive Mechatronics; Human-Machine Interface; Pendulum Balance; Skill Acquisition; X-Y Stage;
Conference_Titel :
Systems, Man and Cybernetics, 2006. SMC '06. IEEE International Conference on
Conference_Location :
Taipei
Print_ISBN :
1-4244-0099-6
Electronic_ISBN :
1-4244-0100-3
DOI :
10.1109/ICSMC.2006.384765
