Title :
Development of 3D-input device using adaptive control
Author :
Yokoi, Hiroshi ; Yamashita, Juli ; Fukui, Yasuhito ; Shimojo, Makoto
Author_Institution :
Hokkaido Univ., Sapporo, Japan
Abstract :
This paper introduces the 3D-input device with adaptable control for human characteristics. For the problem of low response of the human motor system and differences of impedance between man and machine, the human friendly device is proposed with adaptive and predictive control using neural network architecture and machine impedance control according to the impedance of a human hand. The proposed device is evaluated using a comparison between the tracing resistance of virtual surface and real surface (ice, steel, and wood)
Keywords :
adaptive control; backpropagation; force control; man-machine systems; manipulators; neurocontrollers; predictive control; velocity control; vibration control; virtual reality; 3D-input device; Cartesian manipulator; adaptive control; backpropagation; damping; force feedback control; machine impedance control; man-machine systems; neural network; predictive control; real surface; servomechanism; tracing resistance; velocity control; virtual surface; Adaptive control; Control systems; Humans; Ice surface; Immune system; Neural networks; Predictive control; Programmable control; Surface impedance; Surface resistance;
Conference_Titel :
Neural Networks, 1995. Proceedings., IEEE International Conference on
Conference_Location :
Perth, WA
Print_ISBN :
0-7803-2768-3
DOI :
10.1109/ICNN.1995.487964
