Human adaptive mechatronics (HAM) for haptic system

Based on a new concept of a human-in-the-loop system called human adaptive mechatronics (HAM), a system structure and its design method are shown for a haptic system. HAM is a novel intelligent machine exerting high performance by enhancing human skill and by making machine functions adapt to skill level. In this report, we deal with a point-to-point task by human manipulation. An estimation method of a human controller is proposed under an assumption such that a human controller consists of a PD and a delay-time element. An assist control that adjusts support ratio from a machine side according to the human skill is proposed. From results of experiments to beginners, it was confirmed that parameters of the operator´s controller could be estimated sufficient and the human performance of manipulation was enhanced by the assistant method using estimated parameters.