J-056

Rhythm Adaptation for Human Machine Co-operation
Operation Torque Adaptation according to Respiration Rhythm in Machine Operation

Authors: Yasuhisa HAYAKAWA and Shigeki SUGANO
Affiliation: Dept. of Mechanical Engineering, Waseda University, Tokyo, Japan

Abstract
In order to realize human co-operative machinery, this study focuses on machine adaptation to human. Machinery which adapts to human states and characteristics, are easy to use and human friendly, will enable human to use the best of their abilities. Such systems are named HOMES (Human Oriented MEchanical Systems). This paper describes the role of human rhythms in machine operation concerning different skilled operators. First basic characteristics of operation and biological rhythms concerning different experienced operators are examined. High correlation between operation torque and respiration was observed in experienced operators. A system, which adapts to human by generating torque rhythms according to respiration rhythms was constructed for improving friendliness of system and performance. Experiments were carried out to examine the validity of the adaptation as assistance of operators. The results show the rhythm adaptation control is effective for improving both friendliness and performance in especially in inexperienced operators.

59-321 Dept. of Mechanical Engineering
Waseda University
3-4-1 Ohkubo, Shinjuku-ku
Tokyo 169-8555, JAPAN
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hayakawa@paradise.mech.waseda.ac.jp
sugano@paradise.mech.waseda.ac.jp