Human Adaptive Calibration for Machine Operation Without Awareness

Hiroshi Igarashi

doi:10.20965/jrm.2008.p0595

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JRM Vol.20 No.4 pp. 595-601

doi: 10.20965/jrm.2008.p0595

(2008)

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Human Adaptive Calibration for Machine Operation Without Awareness

Hiroshi Igarashi

Department of Electronical and Electronic Engineering, Tokyo Denki University, 2-2 Kanda-Nishiki-cho, Chiyoda-ku, Tokyo 1018457, Japan

Received:

February 25, 2008

Accepted:

June 16, 2008

Published:

August 20, 2008

Keywords:

calibration, human-machine system, cognitive science, human adaptive mechatronics

Abstract

Optimum human-machine operation is defined as when a operated machine with “human calculated dynamics model” coincides with its “machine dynamics.” Based on this definition, we propose calibration that brings the machine dynamics closer to the human-calculated machine model. Operators tend to learn dynamics without awareness during machine operation, so changes in machine dynamics appear to pose problems that both make operators uncomfortable and hinder their learning. We propose calibration for changes in machine dynamics without operator awareness, by quantifying perception based on cognitive scientific knowledge. We applied this calibration to a task involving the maneuvering of a mobile vehicle.

Cite this article as:

H. Igarashi, “Human Adaptive Calibration for Machine Operation Without Awareness,” J. Robot. Mechatron., Vol.20 No.4, pp. 595-601, 2008.

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References

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[5] S. Yamada and T. Yamaguchi, “training AIBO like a dog,” Proc. of the 13th International Workshop on Robot and Human Interactive Communication, pp. 431-436, 2004.
[6] H. Igarashi, A. Takeya, F. Harashima, and M. Kakikura, “Human Adaptive Assist Planning for Teleoperation,” The 32nd Annual Conf. of the IEEE Industrial Electronics Society, 2006.
[7] K. Furuta, “Control of Pendulum: From Super Mechano-System to Human Adaptive Mechatronics,” Proc. of the 42nd IEEE Conf. on Decision and Control, plenary talk, pp. 1498-1507, 2003.
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[10] B. R. Brewer, M. Fagan, R. L. Klatzky, and Y. Matsuoka, “Perceptual Limits for a Robotic Rehabilitation Environment Using Visual Feedback Distortion,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol.13, No.1, 2005.
[11] H. Igarashi, M. Kakikura, “Human Adaptive Assist Planning for Teleopreration System: Assists without Human Awareness,” The 24th Annual Conference of the Robotics Society of Japan, 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Y. Horiguchi and T. Sawaragi, “Human-Robot Collaboration within a Virtual Space Using Behavioral Task-Morphologies,” Proc. of Int. Conf. of IEEE System, Man and Cybernetics, Vol.1, pp.756-761, 1999.

[2] [2] B. A. C.Forsyth and K. E. Maclean, “Predictive Haptic Guidance: Intelligent User Assistance for the Control of Dynamic Tasks,” IEEE Transactions on Visualization and Computer Graphics, Vol.12, No.1, pp.103-113, 2006.

[3] [3] X. Z. Zheng, et al., “Development of Human-Machine Interface in Disaster-Purposed Search Robot Systems That Serve as Surrogates for Human,” IEEE International Conference on Robotics and Automation, pp. 225-230, 2004.

[4] [4] M. Wang and J. N. K. Liu, “A Novel Teleoperation Paradigm for Human-Robot Interaction,” IEEE Int. Conf. on Robotics, Automation and Mechatronics, pp. 13-18, 2004.

[5] [5] S. Yamada and T. Yamaguchi, “training AIBO like a dog,” Proc. of the 13th International Workshop on Robot and Human Interactive Communication, pp. 431-436, 2004.

[6] [6] H. Igarashi, A. Takeya, F. Harashima, and M. Kakikura, “Human Adaptive Assist Planning for Teleoperation,” The 32nd Annual Conf. of the IEEE Industrial Electronics Society, 2006.

[7] [7] K. Furuta, “Control of Pendulum: From Super Mechano-System to Human Adaptive Mechatronics,” Proc. of the 42nd IEEE Conf. on Decision and Control, plenary talk, pp. 1498-1507, 2003.

[8] [8] S. Suzuki, F. Harashima, and Y. Pan, “Assistant control design of HAM including human voluntary motion,” Proc. of the 2nd COE Workshop on Human Adaptive Mechatronics, pp. 105-110, 2005.

[9] [9] R. Teghtsoonian, “On the Exponents in Sevens’s Law and the Constant in Ehrman’s Law,” Psychological Review, Vol.78, pp. 71-80, 1971.

[10] [10] B. R. Brewer, M. Fagan, R. L. Klatzky, and Y. Matsuoka, “Perceptual Limits for a Robotic Rehabilitation Environment Using Visual Feedback Distortion,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol.13, No.1, 2005.

[11] [11] H. Igarashi, M. Kakikura, “Human Adaptive Assist Planning for Teleopreration System: Assists without Human Awareness,” The 24th Annual Conference of the Robotics Society of Japan, 2006.