Interface design for man-machine mechanical interactions

Kazuhiro Kosuge, Yoshio Fujisawa, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

A mechanical system, such as a robot system for man-robot cooperation, a master-slave manipulator system, a power-steering system, an extender etc. has interactions among the system, the operator and its environment. How to control the interactions so that the desired interaction is realized, is one of the key issues for the control of such a mechanical system. The design of the controller of mechanical systems with man-machine interactions is discussed in this paper. We first model the mechanical system, which has interactions with its environment and an operator, then propose a control algorithm so that the desired interaction is realized. The proposed control system, consists of two controllers: one generates the desired motion of the mechanical system based on the force applied to the system, and the other one controls the interaction between the system and its environment The proposed control algorithm specifies both force augmentation and maneuverability of the system. The algorithm is applied to a planar manipulator with one degree of freedom and the experimental system illustrates the concept of the system.

Original languageEnglish
Title of host publication1992 Proceedings IEEE International Workshop on Robot and Human Communication, ROMAN 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages143-148
Number of pages6
ISBN (Electronic)0780307534, 9780780307537
DOIs
Publication statusPublished - 1992 Jan 1
Externally publishedYes
Event1992 IEEE International Workshop on Robot and Human Communication, ROMAN 1992 - Tokyo, Japan
Duration: 1992 Sep 11992 Sep 3

Publication series

Name1992 Proceedings IEEE International Workshop on Robot and Human Communication, ROMAN 1992

Conference

Conference1992 IEEE International Workshop on Robot and Human Communication, ROMAN 1992
CountryJapan
CityTokyo
Period92/9/192/9/3

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction
  • Communication

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  • Cite this

    Kosuge, K., Fujisawa, Y., & Fukuda, T. (1992). Interface design for man-machine mechanical interactions. In 1992 Proceedings IEEE International Workshop on Robot and Human Communication, ROMAN 1992 (pp. 143-148). [253930] (1992 Proceedings IEEE International Workshop on Robot and Human Communication, ROMAN 1992). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMAN.1992.253930