Control System for Skill Acquisition-Balancing Pendulum based on Human Adaptive Mechatronics-

This paper presents our recently research results on skill acquisition for machine operation. An assistance system with force feedback for skill acquisition is designed. An operation task is to balance an inverted pendulum. For that purpose, a virtual pendulum that is calculated real-time with computer graphics is developed. A human operator manipulates an X-Y stage as the human-machine interface with haptic function. An assistant controller is designed based on the Kawato-model. An experiment result shows effectiveness of this system for developing the skill.

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