Journal
ELECTRICAL ENGINEERING IN JAPAN
Volume 177, Issue 1, Pages 55-64Publisher
WILEY-BLACKWELL
DOI: 10.1002/eej.20932
Keywords
human behavior model; hybrid system; man-machine cooperative robot; power assist system
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Funding
- Ministry of Education, Culture, Sports, Science, and Technology [17760217]
- Hi-Tech Research Center of Ministry of Education, Culture, Sports, Science, and Technology
- Grants-in-Aid for Scientific Research [17760217] Funding Source: KAKEN
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Recently, the demand for man-machine cooperative systems has been growing in many industrial fields, particularly in cell production and in flexible manufacturing systems. In the design of man-machine cooperative systems, the characteristics of human behavior must be considered. This paper presents a new design strategy for a switched assist controller for a man-machine cooperative positioning task that takes into consideration a human behavior model based on a continuous/discrete hybrid dynamical system. First, the human behavior model is identified as a piecewise ARX model using k-means clustering and a support vector machine. Second, the switched assist system is designed as a switched impedance controller based on the identified hybrid human behavior model with optimization. The optimization was solved by performing a forward calculation of the closed loop response of the human behavior model and controller with a criterion reflecting the task time and the force effort. The results show that one can find the optimal parameters for a switched impedance controller. (C) 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 177(1): 55-64, 2011; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.20932
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