US5555495A
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Method for adaptive control of human-machine systems employing disturbance response
Assignee: University of Michigan (System)
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Filing: 1993-10-25
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Granted: 1996-09-10
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Expires: 2013-10-25
Abstract
Abstract Adaptive control of a system with a human in the loop is accomplished by sensing human operator reactions to a disturbance in the system and characterizing the operator response to the disturbance. The operator response is characterized in one of several forms by predicting a response based on a model quantifying a response based on statistics or merely measuring a response for accumulation of data to be employed by an artificial intelligent system. The disturbance which provides the human operator reaction, is applied or occurs naturally based on other stimulus and is measured by the system. Quantifying the results of the disturbance and the operator response comparison allows selection of a control mode by identifying one or more categories of reaction response or a graduated modification of the control law employed in the system. Various modes or categories for control of the system incorporate different sensitivities on a macro scale or an entirely different control algorithm. Graduated adaptation alters sensitivity or other perimeters in the system at a micro level incrementally throughout given ranges of control.
Inventors
- 👤 David A. Bell
- 👤 Lon E. Bell
- 👤 Simon Levine
- 👤 Yoram Koren
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 03:52
CPC Classifications
B; B60; B60W; B60W40/00; B60W40/08; A; A61; A61G; A61G2203/00; A61G2203/10; A61G2203/14; A61G5/00; A61G5/04; Y; Y10; Y10S; Y10S180/00; Y10S180/907; Y10S297/00; Y10S297/04; Y10S706/00; Y10S706/902; Y10S706/903; Y10S706/905
Claims Analysis
Total Claims: 21
Claim 1
Independent Claim
78 words
An adaptive control method for human in the loop systems comprising the steps of: (a) sensing human operator reaction to a disturbance in a control system; (b) characterizing an operator response to the disturbance; (c) comparing the operator reaction and the characterized response to produce a result; (d) modifying an initial control law based on the result of the comparison to create a modified control law; and (e) creating a control signal based on the modified control law.
Claim 2
Dependent Claim
78 words
An adaptive control method for human in the loop systems comprising the steps of: (a) sensing human operator reaction to a disturbance in a control system; (b) characterizing an operator response to the disturbance; (c) comparing the operator reaction and the characterized response to produce a result; (d) modifying an initial control law based on the result of the comparison to create a modified control law; and (e) creating a control signal based on the modified control law.
Claim 3
Dependent Claim
44 words
A method as defined in claim 1, further comprising of the initial steps of: (a) calculating a disturbance to be applied to the system; and (b) applying the calculated disturbance to the system wherein the disturbance of the sensing step comprises the calculated disturbance.
Claim 4
Dependent Claim
35 words
A method as defined in claim 1, further comprising the initial step of measuring a disturbance in the system created by external stimulus, and wherein the disturbance of the sensing step comprises the measured disturbance.
Claim 5
Dependent Claim
38 words
A method as defined in claim 1, further comprising the initial step of measuring a disturbance in the system created by stochastic perturbation in the system, and wherein the disturbance of the sensing step comprises the measured disturbance.
Claim 6
Dependent Claim
91 words
An adaptive control method for human in the loop systems comprising the steps of: (a) sensing human operator reaction to a disturbance in a control system; (b) characterizing an operator response to the disturbance; (c) comparing the operator reaction and the characterized response to produce a result; (d) quantifying the comparison into at least two categories; (e) identifying the category into which the result of the comparison falls; (f) selecting a control law based on the category identified; and (g) issuing control commands to the system using the selected control law.
Claim 7
Dependent Claim
91 words
An adaptive control method for human in the loop systems comprising the steps of: (a) sensing human operator reaction to a disturbance in a control system; (b) characterizing an operator response to the disturbance; (c) comparing the operator reaction and the characterized response to produce a result; (d) quantifying the comparison into at least two categories; (e) identifying the category into which the result of the comparison falls; (f) selecting a control law based on the category identified; and (g) issuing control commands to the system using the selected control law.
Claim 8
Dependent Claim
54 words
A method as defined in claim 1, wherein characterizing an operator response to the disturbance comprises the steps of: (a) measuring the response; (b) storing the measurement in a database; (c) acting on the database with an artificial intelligence system; and (d) providing an output from the artificial intelligence system which characterizes the response.
Claim 9
Dependent Claim
52 words
A method as defined in claim 1, wherein characterizing an operator response to the disturbance comprises: (a) preparing a model of human response characteristics based on an initial control law; (b) predicting human operator response to the disturbance using the initial control law; and wherein the characterized response comprises the predicted response.
Claim 10
Dependent Claim
16 words
A method as defined in claim 1, wherein characterizing an operator response employs a neural network.
Claim 11
Dependent Claim
19 words
A method as defined in claim 1, wherein the step of creating a control signal employs Bayesian modeling techniques.
Claim 12
Dependent Claim
71 words
An adaptive control method for a motorized wheelchair having a joystick control input and motorized wheel control comprising the steps of: (a) applying a disturbance to the joystick; (b) sensing human operator reaction to the disturbance applied; (c) characterizing operator response to the disturbance; (d) comparing the operator reaction and the characterized response to produce a result; and (e) selecting a wheelchair operating mode based on the result of the comparison.
Claim 13
Dependent Claim
71 words
An adaptive control method for a motorized wheelchair having a joystick control input and motorized wheel control comprising the steps of: (a) applying a disturbance to the joystick; (b) sensing human operator reaction to the disturbance applied; (c) characterizing operator response to the disturbance; (d) comparing the operator reaction and the characterized response to produce a result; and (e) selecting a wheelchair operating mode based on the result of the comparison.
Claim 14
Dependent Claim
73 words
An adaptive control method for a motorized wheelchair having a joystick control input and motorized wheel control comprising the steps of: (a) applying a disturbance to the motorized wheel control; (b) sensing human operator reaction to the disturbance applied; (c) characterizing operator response to the disturbance; (d) comparing the operator reaction and the characterized response to produce a result; and (e) selecting a wheelchair operating mode based on the result of the comparison.
Claim 15
Dependent Claim
73 words
An adaptive control method for a motorized wheelchair having a joystick control input and motorized wheel control comprising the steps of: (a) applying a disturbance to the motorized wheel control; (b) sensing human operator reaction to the disturbance applied; (c) characterizing operator response to the disturbance; (d) comparing the operator reaction and the characterized response to produce a result; and (e) selecting a wheelchair operating mode based on the result of the comparison.
Claim 16
Dependent Claim
68 words
A operator impairment testing method comprising the steps of: (a) measuring a disturbance to a control system operated by the operator in an vehicle; (b) sensing operator reaction to the disturbance; (c) characterizing an operator response to the disturbance; (d) comparing the operator's reaction and the characterized response to identify a reaction inconsistent with the characterized response; and (e) activating an output when an abnormal reaction is detected.
Claim 17
Dependent Claim
68 words
A operator impairment testing method comprising the steps of: (a) measuring a disturbance to a control system operated by the operator in an vehicle; (b) sensing operator reaction to the disturbance; (c) characterizing an operator response to the disturbance; (d) comparing the operator's reaction and the characterized response to identify a reaction inconsistent with the characterized response; and (e) activating an output when an abnormal reaction is detected.
Claim 18
Dependent Claim
74 words
An adaptive control method for a vehicle having a manual control input device and motorized wheel control comprising the steps of: (a) applying a disturbance to the manual control input device; (b) sensing human operator reaction to the disturbance applied; (c) characterizing operator response to the disturbance; (d) comparing the operator reaction and the characterized response to produce a result; and (e) selecting a vehicle operating mode based on the result of the comparison.
Claim 19
Dependent Claim
74 words
An adaptive control method for a vehicle having a manual control input device and motorized wheel control comprising the steps of: (a) applying a disturbance to the manual control input device; (b) sensing human operator reaction to the disturbance applied; (c) characterizing operator response to the disturbance; (d) comparing the operator reaction and the characterized response to produce a result; and (e) selecting a vehicle operating mode based on the result of the comparison.
Claim 20
Dependent Claim
73 words
An adaptive control method for a vehicle having a manual control input device and motorized wheel control comprising the steps of: (a) applying a disturbance to the motorized wheel control; (b) sensing human operator reaction to the disturbance applied; (c) characterizing operator response to the disturbance; (d) comparing the operator reaction and the characterized response to produce a result; and (e) selecting a vehicle operating mode based on the result of the comparison.
Claim 21
Dependent Claim
73 words
An adaptive control method for a vehicle having a manual control input device and motorized wheel control comprising the steps of: (a) applying a disturbance to the motorized wheel control; (b) sensing human operator reaction to the disturbance applied; (c) characterizing operator response to the disturbance; (d) comparing the operator reaction and the characterized response to produce a result; and (e) selecting a vehicle operating mode based on the result of the comparison.
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