adaptive impedance control to enhance human skill on a haptic interface system自适应阻抗控制来提高人类的技能在触觉接口系统.pdfVIP

Hindawi Publishing Corporation Journal of Control Science and Engineering Volume 2012, Article ID 365067, 10 pages doi:10.1155/2012/365067 Research Article Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System Satoshi Suzuki and Katsuhisa Furuta Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, 5 Asahi-Chou, Senju, Adachi-Ku, Tokyo 120-8551, Japan Correspondence should be addressed to Satoshi Suzuki, ssuzuki@fr.dendai.ac.jp Received 5 December 2011; Revised 9 March 2012; Accepted 30 March 2012 Academic Editor: Lili Ma Copyright © 2012 S. Suzuki and K. Furuta. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 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 d