1A1-D13 人間-機械協調型ロボットにおける人間行動モデルと隠れマルコフモデルを用いた支援制御(人間機械協調)

概要

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Recently, the demand for a man-machine cooperative system is rapidly growing in industrial fields. To meet this demand, the human model has been required to design the suitable assist controller in the man-machine cooperative system. We have already presented a human behavior model based on the hybrid system and variable impedance controller applying this model.In this paper, we propose grouping method of workers using Hidden Markov Model (HMM) and confirm the usefulness of this method using variable impedance parameters. At first, we construct HMM to each worker. Then, the grouping of workers will be done used constructed models. Finally, we compare the grouping result with designed variable impedance parameters and confirm the usefulness of the grouping of workers.
一般社団法人日本機械学会の論文
2008-06-06