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ID 14214
本文ファイル
著者
Tanaka, Yoshiyuki
キーワード
Human–robotic systems
impedance control
man–machine systems
neural network (NN)
tracking test
training system
NDC
技術・工学
抄録(英)
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.
掲載誌名
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
35巻
4号
開始ページ
523
終了ページ
535
出版年月日
2005
出版者
IEEE
ISSN
1083-4427
出版者DOI
言語
英語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
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.
関連情報URL(IsVersionOf)
http://dx.doi.org/10.1109/TSMCA.2005.850603
部局名
工学研究科