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Human Operation with XY-Stages-Human Adaptive Mechatronics-

Two XY-stages have been designed and are ready for human bimanual cooperative operation experiments for human adaptive mechatoronics. Each XY-stage is equipped with two DC motors, a six-dimension force sensor, and two encoders. A human operator can move the XY-stage through a grip mounted on the force sensor. The human dynamic characteristics are investigated at first, based on which the XY-stage specification is determined. A PID controller with the virtual internal model of the XY-stage is designed such that the XY-stages can follow the trajectory given by the human operator's operation, including the position and force commands. The response of the XY-stage control systems is measured without the human's operation to adjust the parameters of the PID controller. Then the human operator's responses to sinusoidal signal of different frequency are measured to obtain the Bode diagram of human response. The characteristics of human operators with single hand and bimanual operations are investigated using the XY-stages experimentally.