Tracking Control Properties of Human–Robotic Systems Based on Impedance Control

IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans Volume 35 Issue 4 Page 523-535 published_at 2005
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Title ( eng )
Tracking Control Properties of Human–Robotic Systems Based on Impedance Control
Creator
Tanaka Yoshiyuki
Source Title
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
Volume 35
Issue 4
Start Page 523
End Page 535
Abstract
Human–robotic systems that include interaction betweenhuman operators and robots should be designed with carefulconsideration for the dynamic property and control ability of ahuman operator. This paper performs manual tracking controltests on a human–robotic system using an impedance-controlledrobot, and investigates control characteristics of a human operatoraccording to the robot impedance properties. Experimental resultsdemonstrate that humans try to maintain dynamic properties ofan overall system as constant as possible by adjusting their ownimpedance properties. Then, a new training system using a neuralnetwork for operating a human–robotic system is constructedon the basis of the experimental findings in the human trackingcontrol properties.
Keywords
Human–robotic systems
impedance control
man–machine systems
neural network (NN)
tracking test
training system
NDC
Technology. Engineering [ 500 ]
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 2005
Rights
Copyright (c) 2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1083-4427
[DOI] 10.1109/TSMCA.2005.850603
[DOI] http://dx.doi.org/10.1109/TSMCA.2005.850603 isVersionOf