著者

浪川 大貴 佐藤 直柔 岩瀬 将美 井筒 正義

出版者

自動制御連合講演会

雑誌

自動制御連合講演会講演論文集 第54回自動制御連合講演会

巻号頁・発行日

pp.459, 2011 (Released:2012-03-09)

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自転車は,クランクの構造上,踏力トルクが一定ではなく変動するため,電動アシスト自転車で現在主流となっている比例制御による踏力アシストでは,アシスト後の駆動トルクも変動する.本研究では,繰返し制御を電動アシスト自転車に実装することで,駆動トルクの変動を抑え,滑らかな加速の実現を目指す.本稿では,実験環境の構築,電動アシスト自転車のモデリング,繰返し制御を用いたアシスト制御系の設計例を示す.滑らかな加速により,発進時や登坂時のふらつきを軽減し,転倒防止を図る.

著者

鈴木 幸仁 井筒 正義 釜道 紀浩 石川 潤 古田 勝久

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:18848354)

巻号頁・発行日

vol.77, no.776, pp.1413-1428, 2011 (Released:2011-04-25)

参考文献数

10

被引用文献数

2

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There are many researches to identify operator's dynamic characteristics in manipulating human-machine interaction systems. Analyses of operator's dynamic characteristics provide a clue to develop human-friendly systems that assists skill development. However, these researches mainly discuss single hand operations, and there seems to be little researches for two hand (bimanual) operations. To develop useful operational systems, the analyses of operator's dynamic characteristics in bimanual operation are indispensable. This research aims to clarify proficiency of operator's skill in bimanual operation. Concretely, the proficiency is evaluated by using an experimental human-machine interface for bimanual operations that provides three different mechanical impedances. The characteristics of operators are evaluated by tracking performance to references generated randomly and skills to draw geometric patterns in a two dimensional plane. In the experiment, the extent of proficiency was also compared with each other for the three different mechanical impedance models. It has been confirmed that the proposed evaluation method can successfully clarify the extent of proficiency of operators' skills. It was also observed that there was little difference in the extent of proficiency among the three mechanical impedances.