Human adaptive mechatronics (HAM) for haptic system

Based on a new concept of a human-in-the-loop system called human adaptive mechatronics (HAM), a system structure and its design method are shown for a haptic system. HAM is a novel intelligent machine exerting high performance by enhancing human skill and by making machine functions adapt to skill level. In this report, we deal with a point-to-point task by human manipulation. An estimation method of a human controller is proposed under an assumption such that a human controller consists of a PD and a delay-time element. An assist control that adjusts support ratio from a machine side according to the human skill is proposed. From results of experiments to beginners, it was confirmed that parameters of the operator's controller could be estimated sufficient and the human performance of manipulation was enhanced by the assistant method using estimated parameters.