Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System

Abstract

Adaptive assistive control for a haptic interface system is proposed in the present paper. The assistive control system consists of three subsystems: a servo controller to match the response of the controlled machine to the virtual model, an online identifier of the operator’s control characteristics, and a variable dynamics control using adaptive mechanism. The adaptive mechanism tunes an impedance of the virtual model for the haptic device according to the identified operator’s characteristics so as to enhance the operator’s control performance. The adaptive law is derived by utilizing a Lyapunov candidate function. Using a haptic interface device composed by axy-stage, an effectiveness of the proposed control method was evaluated experimentally. As a result, it was confirmed that the operator’s characteristics can be estimated sufficiently and that performance of the operation was enhanced by the variable dynamics assistive control.

Operator dynamics for stability condition in haptic and teleoperation system: A survey

“…To solve this paradox, Suzuki and Furuta presented a true adaptive variable impedance controller to realize an automatic tuning mechanism without intervention of system designers (Figures and ). The proposed strategy consists of identification of a human operator's dynamics and an online adaptive tuning of the robot dynamic property utilizing a Lyapunov stability concept.…”

Intent aware adaptive admittance control for physical Human-Robot Interaction

“…The reference point-to-point motion was indicated by a "RED" or "BLUE" audiovisual cue to indicate the next movement point. Human factors studies [21] suggest that the human brain learns a closed-loop controller that behaves like a first order model with high bandwidth in closed-loop. Motivated by this a first-order transfer function is used as the task model…”

Development of Estimating Equation of Machine Operational Skill by Utilizing Eye Movement Measurement and Analysis of Stress and Fatigue

“…In this section, effects of these indexes to the estimating equation of skill̂, which was derived in Section 3, are mentioned. From factors of eye movement, the eye movement feature was computed by (6), and the estimated level of skill was obtained using (7). Correlation coefficients between̂T and the internal status in case of operator A, B, C, and E are shown in Table 7.…”

“…With that in mind, a concept of Human Adaptive Mechatronics (HAM) [1][2][3], which is an intelligent mechatronics to help the mastery of the user's operation, was presented. Under the project, various kinds of system design theories and technologies for HAM, that changes its dynamic characteristics and the supporting strategies adaptively to the status of individual user in order to enhance the performance of whole human-machine system, have been studied [4][5][6]. The following two main functions are required to realize HAM: quantification of skill level of users and adaptive human-assisting mechanism according to the skill level.…”