Function of human-oriented compensator for human dynamics with uncertainties

In a human-machine system, operator skill is required in order to realize a meaningful operation. In this paper, a new concept of human-oriented compensator is proposed for improving the control performance of a human-machine system. The system aims to support human work and not to obstruct operational feeling. The compensator called a "collaborator" has two degree of freedom. When such a compensator is applied to a human-machine system, it is worried that the bad influence on a system occurs due to adaptation of a human operator to the environment. But the collaborator maintains the control performance of the human-machine system in spite of a variation in human dynamics.