Jul 11
6
Human Skill-Identification Of Human Skill
The Identification of Human Skill harmonious cooperation with the operator, the man-machine cooperative system must be designed so as to accommodate with the characteristics of the operator’s skill. One of the important considerations in the skill analysis is to investigate the switching mechanism underlying the skill dynamics. On the other hand, the combination of the feed forward and feedback schemes has been proved to work successfully in the modeling of human skill. The man-machine cooperative system is attracting great attention in many fields, such as manufacturing, medicine, welfare and so on. To realize the harmonious cooperation with the operator, the assisting system must be designed so as to accommodate with the characteristics of the operator’s skill. the human skill model based on a hybrid dynamical system modeling under the consideration that the operator appropriately switches some simple motion control laws instead of adopting the complex nonlinear motion control law. Another interesting characteristics found in the human skill is the combination of the feed forward and feedback schemes. In many literatures, the combination of the feed forward and feedback schemes has been proved to work successfully in the modeling of human skill.
Although the combination of the feed forward and feedback schemes seems natural, it is unlikely that the human always activate both the feed forward and feedback schemes simultaneously. Identification of Human Skill seems more natural that the feed forward and feedback schemes are switched smoothly according to the progress of the task. From this viewpoint, this paper proposes a new stochastic switched skill model for the sliding task wherein the feed forward and feedback schemes are embedded in the different discrete states. In particular, in the discrete state of the feed forward scheme, a minimum jerk motion is embedded, while in the discrete state of the feedback scheme, a standard linear feedback control law is embedded. Then, the parameter estimation algorithm for the proposed switched model is derived. One of the promising applications of the proposed model is the estimation of the switching condition from the feed forward to feedback scheme based only on the observed data.
In Identification of Human Skill the proposed skill model, the feed forward and feedback schemes were synthesized together with the switching mechanism of them. In this section, to verify the validity of the proposed model, other types of skill model is considered and compared. over the proposed skill model, the quantitative evaluation of the observed skill can be realized from viewpoint of the stochastic dynamics. The quantitative evaluation can be used for the analysis of the experience, skillfulness, and so on. Furthermore, the learning characteristics of the human operator can be analyzed by investigating the estimated model parameters. In particular, in the discrete state corresponding to the feed forward scheme, a minimum jerk motion is embedded, while in the discrete states corresponding to the feedback scheme, the standard linear feedback control laws are embedded. Then, the parameter estimation algorithm for the proposed switched model was derived. Finally, the usefulness of the proposed modeling has been verified and discussed through some experiments.
