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

Volume

5

fYear

2006

fDate

8-11 Oct. 2006

Firstpage

4040

Lastpage

4045

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICSMC.2006.384765

Filename

4274530