Elucidation of skilled human controller on stabilization with voluntary motion

This paper introduces an experimental analysis to elucidate catholic characteristic of human skill on machine manipulation for realization of a Human Adaptive Mechatronics (HAM). HAM is a novel concept of intelligent mechanical systems that adapt themselves to the user's skill and assist to improve the user's skill. Using a force-feedback haptic device and a real-time computer graphics of a virtual pendulum, we acquired data until human was skilled, and tried to extract human control axiom by data-analysis and simulation checking. It was confirmed that skilled person stabilized a virtual pendulum by forecasting it's motion by using the velocity information and switched one's controllers according to a positional limit of an input device.