Collaborative Control of Human-Machine System by 'Collaborater'

A compensator, which can support the collaborative work of human and machine, in order to improve the maneuvering performance and the response of human-machine system, has been proposed and named as 'collaborater'. In this study, human dynamics is proposed as the modified Delayed Feed-Forward (DFF) model which is identified by both the experiments and the numerical simulation concerning to the manual control for the single arm type rotating handle machine. Using the modified DFF model, the collaborater can be designed based on the 2DOF-PID controller design technique. The performance of proposed method examined through the experiments.