Assistive Control System for Skill Acquisition - Balancing Pendulum

Assistive Control System for Skill Acquisition

  This paper presents our recent research results for the assisitive control system for skill acquisition of a machine operation. Such assistive system for the operator to learn the skill is said Human Adaptive Mechatrnics. The assistive control system developed has force feedback for correcting the operation. The tasks considered are balancing an inverted pendulum, which has been used for skill evaluation. The assisitive control system developed has the structure that can be used for assisting general systems, where the display gives the reference to the operator. A virtual pendulum shown in the display is considered as the object. A human operator manipulates an X-Y stage as the human-machine interface with a haptic function. An assistive controller designed is similar to the Kawato-model in the sense that human is the feed forward and controller is the feedback system. An experiment result shows effectiveness of this system for assistance for getting the skill.