Identification of Positioning Skill Based on Feedforward/Feedback Switched Dynamical Model
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概要
- 論文の詳細を見る
To realize the harmonious cooperation with the operator, the man-machine cooperative system must be designed so as to accommodate with the characteristics of the operators skill. One of the important considerations in the skill analysis is to investigate the switching mechanism underlying the skill dynamics. On the other hand, the combination of the feedforward and feedback schemes has been proved to work successfully in the modeling of human skill. In this paper, a new stochastic switched skill model for the sliding task, wherein a minimum jerk motion and feedback schemes are embedded in the different discrete states, is proposed. Then, the parameter estimation algorithm for the proposed switched skill model is derived. Finally, some advantages and applications of the proposed model are discussed.
- （社）電子情報通信学会の論文
- 2009-11-01
著者
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Suzuki Tatsuya
Department Of Obstetrics And Gynecology School Of Medicine Jichi Medical University
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OKUDA Hiroyuki
Department of Metal Science and Technology,Kyoto University
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SUZUKI TATSUYA
Graduate School of Engineering, Nagoya University
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Hayakawa Soichiro
Mie University
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Suzuki Tatsuya
Department Of Electronic-mechanical Engineering Graduate School Of Engineering Nagoya University
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Suzuki Tatsuya
Department Of Mechanical Science And Engineering Graduate School Of Engineering Nagoya University
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Okuda Hiroyuki
Department Of Mechanical Science And Engineering Graduate School Of Engineering Nagoya University
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TAKEUCHI Hidenori
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University
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INAGAKI Shinkichi
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University
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Inagaki Shinkichi
Department Of Mechanical Science And Engineering Graduate School Of Engineering Nagoya University
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Takeuchi Hidenori
Department Of Mechanical Science And Engineering Graduate School Of Engineering Nagoya University
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Suzuki Tatsuya
Department Of Chemistry And Biotechnology School Of Engineering The University Of Tokyo
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