NDLI: Identification of human skill based on feedforward / feedback switched dynamical model

Content Provider	IEEE Xplore Digital Library
Author	Okuda, H. Takeuchi, H. Inagaki, S. Suzuki, T.
Copyright Year	2009
Description	Author affiliation: Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Japan (Okuda, H.; Takeuchi, H.; Inagaki, S.; Suzuki, T.)
Abstract	To realize the harmonious cooperation with the operator, the man-machine cooperative system must be designed so as to accommodate with the characteristics of the operator's skill. One of the important considerations in the skill analysis is to investigate the switching mechanism underlying the skill dynamics. On the other hand, the combination of the feedforward and feedback schemes has been proved to work successfully in the modeling of human skill. In this paper, a new stochastic switched skill model for the sliding task, wherein a minimum jerk motion and feedback schemes are embedded in the different discrete states, is proposed. Then, the parameter estimation algorithm for the proposed switched skill model is derived. Finally, some advantages and applications of the proposed model are discussed.
Starting Page	235
Ending Page	240
File Size	359638
Page Count	6
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Humans Man machine systems Cooperative systems State feedback Sliding mode control Impedance Design engineering Stochastic processes Parameter estimation Motion control Hybrid System Human Skill Model Man-Machine Cooperative System
Content Type	Text
Resource Type	Article

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