Identification of Human Bimanual Operation Using XY-Stages
Yukihito Suzuki*, Yaodong Pan**, Hiroki Takase***,
and Katsuhisa Furuta*
*Department of Computers and Systems Engineering, Tokyo Denki University, Ishizaka, Hatoyama, Hiki, Saitama 350-0394, Japan
**Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, Ontario M5B2K3, Canada
***21st Century COE Project Office, Tokyo Denki University, Ishizaka, Hatoyama, Hiki, Saitama 350-0394, Japan
Our bimanual operation experiments have shown that the movement of one hand affects that of the other at higher frequencies – a coupling that weakens for a skilled operator. To determine the bimanual operational properties, we designed a bimanual operation system with two XY-stages for studying Human Adaptive Mechatronics (HAM). Each XY-stage has two DC motors, a six-dimension force sensor, and two encoders. An operator moves the XY-stage through a grip on the force sensor. We first studied dynamic human properties, based on which we determined XY-stage specifications. The PID controller with a Virtual Internal Model (VIM) of the XY-stage, we designed enables XY-stages to follow the trajectory given by the operator, including locations and force commands. Using the XY-stages, we conducted bimanual operation experiments in which operators manipulate the XY-stages bimanually to track two orthogonal trajectories. To investigate bimanual operation properties, we analyzed variation, correlation, and the power spectrum density (PSD) of experimental input and output data and identified the transfer functions. This paper presents the design of the bimanual operation system and shows the experimental results and the analysis results of bimanual operations.
-  K. Kurihara, S. Suzuki, F. Harashima, and K. Furuta, “Human Adaptive Mechatronics (HAM) for Haptic System,” Proc. of the 30th AnnualConf. of the IEEE Industrial Electronics Society (IECON’04), Busan, Korea, in CD-ROM, 2004.
-  K. Kurihara, S. Suzuki, and K. Furuta, “Elucidation of skilled human controller on stabilization with voluntary motion,” Proc. of the 2006 IEEE Int. Conf. on Control Applications, pp. 573-578, Oct. 2006.
-  K. Furuta, Y. Kado, and S. Shiratori, “Assisting Control in Human Adaptive Mechatronics - Single Ball Juggling,” Proc. of the 2006 IEEE Int. Conf. on Control Applications, pp. 545-550, 2006.
-  Y. Suzuki, Y. Pan, S. Suzuki, K. Kurihara, and K. Furuta, “Human Operation with XY-stages - Human Adaptive Mechatronics -,” Proc. of the 2006 IEEE Int. Conf. on Systems, Man and Cybernetics, Taiwan, 2006.
-  K. Kosuge, K. Furuta, Y. Shiote, and H. Hatano, “Control of Master-Slave Manipulator Based on Virtual Internal Model,” Journal of Robotics and Mechatronics, Vol.2, No.5, pp. 358-363, 1989.
-  Y. Kado, Y. Pan, and K. Furuta, “Assistance system for skill acquisition,” Proc. of Int. Conf. on Instrumentation, Control and Information Technology, Okayama, Japan, 2005.
-  M. Tanaka, Y. Pan, and K. Furuta, “Adaptive sliding mode control of belt driven prismatic manipulator,” Int. Workshop on Variable Structure Systems (VSS’06), pp. 379-384, 2006.
-  D. Nozaki, I. Kurtzer, and S. H. Scott, “Limited transfer of learning between unimanual and bimanual skills within the same limb,” Nature Neuroscience, Vol.9, No.11, 2006.
-  R. W. Wilde and J. H. Westcott, “The characteristics of the human operator engaged in a tracking task,” Automatica, Vol.1, pp. 5-19, 1962.
-  D. Mcruer, “Human dynamics in man-machine systems,” Automatica, Vol.16, pp. 237-253, 1980.
-  T. Chan and K. Chan, “Effect of frequency ratio and environmental information on spatial coupling: a study of attention,” Ecol. Psychol., Vol.7 No.2, pp. 125-144, 1995.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2008 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.