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Human Behavior Characterizing based on Line-of-Sight for Human Adaptive Mechatronics
Satoshi Suzuki,Fumio Harashima,Katsuhisa Furuta 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2006 International Journal of Assistive Robotics and Me Vol.7 No.1
In this paper, characterization of human behavior to estimate human skill-level, which is a significant item to achieve the Human Adaptive Mechatronics (HAM), is considered. The characterizing of an operator"s manipulation is done by utilizing a discrete state-transition model based on line-of-sight information. In order to obtain experimental data to evaluate the proposed method, a human-machine experimental measurement system for a tele-operation robot system was devised. We confirmed that automatic characterizing of operator"s behavior for estimation of the skill is possible by checking of combination of transition states of eye-gaze patterns, operator"s actions and robot status.
Analysis of Machine Operation Skills using Hand Discrete Movement
Satoshi Suzuki,Fumio Harashima 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
The function for supporting a human by considering his of her skill-level is required for a future advanced machine. In this study, discrete movements of operator’s hand were analyzed to propose an adequate skill evaluation method that has possibility to be implementable to a machine. Using teleoperation experiment system for two radio-controlled construction machines, the training process of the operators was recorded, and performance of the machine operation, the reaching action of operator’s hand, and the state transition matrix of the operation commands were investigated. From the analyses, sufficiently-high correlation between the change of the fitting error to Fitts’ law and the task-performance index was confirmed, and an increasing of the task performance and a decreasing of the inching had strong relationship.