1A1-M08 フィードフォワード/フィードバック切換え型モデルによるスキルの同定

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 operator's 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 feed forward and feedback schemes has proved to work successfully in 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 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 is discussed.
一般社団法人日本機械学会の論文
2009-05-25