Assist control and its tuning method for haptic system

This paper deals with an assist control on a haptic interface to promote operator's skill based on a new concept of a human-in-the-loop system called human adaptive mechatronics (HAM). HAM is an intelligent machine which adapts to human, improves his/her skill, and enhances total performance of total man-machine system. The proposed assist-control scheme includes online estimation of an operator's control characteristics, and a force-assist function based on a skill-level estimated. This paper discusses how to extract an expert's reference parameters from the response data and how to construct the assist function by stochastic analysis. It was confirmed via an experimental test that beginner's performance was enhanced by the assist-control as much as an expert