Abstract
We apply the interactive adaptation interface to an operation system. Such a system can adapt to an operator considering the following two points. One is the operator's psychological state and the other is the operator's skill. For adaptation to an operator, the system tunes the time constant of the operation controller by recursive fuzzy inference, and has a multimodal display which consists of various types of operational assistance such as visual display, acoustic display, force display, etc. In this paper, we propose many types of operational assistance for a rough terrain crane system. We propose a good control pattern which can suppress the payload's oscillation. The operational assistance becomes more effective by using the control pattern. We made a computer simulation and a joystick for the proposed crane system, and did operational experiments on this simulator. We show the effectiveness of the proposed assistance system for crane operation.
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