Human-oriented compensator for human-machine system

In a human-machine system, the operator\´s skill is required considerably in order to realize a meaningful operation. In this paper, a new concept of human-oriented compensator is proposed for improving the human-machine system. That is called "collaborater". The collaborater aims to support a human work and not to obstruct the operational feeling. The design strategy exists in the control structure of the biological feedback. Two degree of freedom compensator enables the improvement of the control performance. When collaborater is applied to a human-machine system, it is conjectured that the effect of collaborater decreases due to the adaptation of the human operator to the mechanical system with collaborater. An adaptive collaborater against a change of parameters is proposed by the estimation of human dynamics using the neural network.