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

IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans 35 巻 4 号 523-535 頁 2005 発行
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ファイル情報(添付)
タイトル ( eng )
Tracking Control Properties of Human–Robotic Systems Based on Impedance Control
作成者
Tanaka Yoshiyuki
収録物名
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
35
4
開始ページ 523
終了ページ 535
抄録
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.
著者キーワード
Human–robotic systems
impedance control
man–machine systems
neural network (NN)
tracking test
training system
NDC分類
技術・工学 [ 500 ]
言語
英語
資源タイプ 学術雑誌論文
出版者
IEEE
発行日 2005
権利情報
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.
出版タイプ Version of Record(出版社版。早期公開を含む)
アクセス権 オープンアクセス
収録物識別子
[ISSN] 1083-4427
[DOI] 10.1109/TSMCA.2005.850603
[DOI] http://dx.doi.org/10.1109/TSMCA.2005.850603 ~の異版である