{"title":"Information and power flow during skill acquisition for the Intelligent Assisting System-IAS","authors":"M. Buss, H. Hashimoto","doi":"10.1109/IROS.1993.583005","DOIUrl":null,"url":null,"abstract":"This paper discusses information and power flow in the Intelligent Assisting System (IAS). The IAS includes an intelligent manipulation assistant to a human operator, where information as well as forces between the operator, the IAS and the task environment are exchanged. A manipulation skill database enables the IAS to perform complex manipulations on the motion control level and intelligently assist the operator. As a first approach to the IAS the authors have been developing a skill acquisition and transfer system using a sensor glove for force feedback to the human operator. The dynamic behavior of the grip transformation matrix is regarded as the essence of the performed manipulation skill shown with a simple manipulation example. A detailed analysis of force transformations between hand and object space yields a method for acquisition of the grip transform dynamic behavior accumulated in the skill database. Further this paper defines a control algorithm realizing object task trajectories and its feasibility is shown by simulation.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"16","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1993.583005","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 16
Abstract
This paper discusses information and power flow in the Intelligent Assisting System (IAS). The IAS includes an intelligent manipulation assistant to a human operator, where information as well as forces between the operator, the IAS and the task environment are exchanged. A manipulation skill database enables the IAS to perform complex manipulations on the motion control level and intelligently assist the operator. As a first approach to the IAS the authors have been developing a skill acquisition and transfer system using a sensor glove for force feedback to the human operator. The dynamic behavior of the grip transformation matrix is regarded as the essence of the performed manipulation skill shown with a simple manipulation example. A detailed analysis of force transformations between hand and object space yields a method for acquisition of the grip transform dynamic behavior accumulated in the skill database. Further this paper defines a control algorithm realizing object task trajectories and its feasibility is shown by simulation.