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Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System
Joint Authors
Suzuki, Satoshi
Furuta, Katsuhisa
Source
Journal of Control Science and Engineering
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-05-29
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
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 a xy-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.
American Psychological Association (APA)
Suzuki, Satoshi& Furuta, Katsuhisa. 2012. Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System. Journal of Control Science and Engineering،Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-466211
Modern Language Association (MLA)
Suzuki, Satoshi& Furuta, Katsuhisa. Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System. Journal of Control Science and Engineering No. 2012 (2012), pp.1-10.
https://search.emarefa.net/detail/BIM-466211
American Medical Association (AMA)
Suzuki, Satoshi& Furuta, Katsuhisa. Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System. Journal of Control Science and Engineering. 2012. Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-466211
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-466211