Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System
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 characteristic...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2012/365067 |
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| _version_ | 1850178634805936128 |
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| author | Satoshi Suzuki Katsuhisa Furuta |
| author_facet | Satoshi Suzuki Katsuhisa Furuta |
| author_sort | Satoshi Suzuki |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-bc3d3f15f33949019844eaea8f448802 |
| institution | OA Journals |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-bc3d3f15f33949019844eaea8f4488022025-08-20T02:18:42ZengWileyJournal of Control Science and Engineering1687-52491687-52572012-01-01201210.1155/2012/365067365067Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface SystemSatoshi Suzuki0Katsuhisa Furuta1Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, 5 Asahi-Chou, Senju, Adachi-Ku, Tokyo 120-8551, JapanDepartment of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, 5 Asahi-Chou, Senju, Adachi-Ku, Tokyo 120-8551, JapanAdaptive 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.http://dx.doi.org/10.1155/2012/365067 |
| spellingShingle | Satoshi Suzuki Katsuhisa Furuta Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System Journal of Control Science and Engineering |
| title | Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System |
| title_full | Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System |
| title_fullStr | Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System |
| title_full_unstemmed | Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System |
| title_short | Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System |
| title_sort | adaptive impedance control to enhance human skill on a haptic interface system |
| url | http://dx.doi.org/10.1155/2012/365067 |
| work_keys_str_mv | AT satoshisuzuki adaptiveimpedancecontroltoenhancehumanskillonahapticinterfacesystem AT katsuhisafuruta adaptiveimpedancecontroltoenhancehumanskillonahapticinterfacesystem |