Skill acquisition and transfer system as approach to the intelligent assisting system - IAS

Martin Buss, Hideki Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper we propose a new forthcoming research topic the Intelligent Assisting System - IAS. Using this system we are approaching identification and analysis of human manipulation skill to be used for intelligent human operator assistance. A manipulation skill data base enables the IAS to perform complex manipulations on the motion control level. Through repeated interaction with the operator for unknown environment states, manipulation skill in the data base can be increased on-line. A model for manipulation skill based on the grip transformation matrix is proposed, which describes the transformation between the object trajectory and contact conditions. We describe the experimental system setup of a skill acquisition and transfer system as a first approach to the IAS and some results confirming the calibration method of the developed sensor glove using an artificial neural network. A simple manipulation example shows the feasibility of the proposed manipulation skill model. Further this paper derives a control algorithm realizing object task trajectories and its efficiency is shown by simulation.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Control Applications
Editors Anon
PublisherPubl by IEEE
Pages451-456
Number of pages6
ISBN (Print)0780309081
StatePublished - 1993
Externally publishedYes
EventProceedings of the 2nd IEEE Conference on Control Applications - BC, BC, Can
Duration: 13 Sep 199316 Sep 1993

Publication series

NameProceedings of the IEEE Conference on Control Applications
Volume1

Conference

ConferenceProceedings of the 2nd IEEE Conference on Control Applications
CityBC, BC, Can
Period13/09/9316/09/93

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