不稳定的物理人机交互的建模、传感和控制：人-自行车的交互系统
报告人：易劲刚，美国罗格斯-新泽西州立大学，机械与航空工程系
时间：2014.07.30，10:00AM
地点：玉泉校区液压老楼四楼会议室
报告摘要：
熟练的运动技巧可以使人流畅、灵活地与机器交互，而智能机器能提供一些运动支持和辅助来促进人体运动技巧的学习。但是，现在缺少理论和设计工具来有效地建模和调整人体运动控制以及人机交互过程。此次，我将讨论罗格斯机器人、自动化、机电一体化 (RAM)实验室的最新研究成果——基于不稳定的物理人机交互（upHMI）的有关人体运动技巧的建模、传感与控制。人-自行车交互就是一个用于检测感觉运动理论的upHMI范例，能够帮助人体运动平衡及全身肌肉活动的建模与造型。
首先，我介绍一种新型的用于在低维空间提取和描述人体运动控制策略的基于控制理论的物理/统计的建模框架。然后，我将讨论现场传感和激励的设计方法，人体穿戴式和随车携带的传感器、执行器被用来评估自然环境下的人-车姿态。最后，我将介绍人-自行车交互中的平衡控制方法设计和神经控制器的稳定性分析。如果时间允许，最后再简要介绍RAM实验室的其它多样的机器人研究课题。
易劲刚教授的个人简历：
易教授于1993年获浙江大学机械电子工程专业学士学位，1996年获清华大学精密仪器专业工程硕士学位，分别于2001年、2002年获美国加州大学伯克利分校数学专业理学硕士、机械工程专业博士。易教授现已评为副教授（终身制），并担任罗格斯大学电子工程和计算机系的研究生院教员职务。他的研究涉及自主机器人系统、机电一体化、动态系统及控制、自动化科学与工程，并将研究成果用于生物医学系统、城市基础设施和交通系统以及半导体制造。易教授被授予多种享有声望的奖励，他也是多篇国际学术期刊的审稿人（见英文简历）。
Modeling, Sensing and Control of Unstable Physical Human-Machine Interactions: A Rider-Bicycle Example
Professor Jingang Yi
Department of Mechanical and Aerospace Engineering
Rutgers University, Piscataway, NJ 08854, USA
Abstract: Human with trained motor skills can fluidly and flexibly interact with machines while smart machines can also provide motor assistance and enhancement to facilitate human’s motor skills learning. However, we currently lack theories and design tools to effectively model and tune human motor control and its interactions with machines. In this talk, I will discuss recent developments at Rutgers Robotics, Automation and Mechatronics (RAM) Lab on modeling, sensing and control of human motor skills through unstable physical human-machine interactions (upHMI). Rider-bicycle interactions is used as an upHMI paradigm to examine a sensorimotor theory for modeling and shaping human motor control relevant to balancing and other functional whole body motor activities. I will first present a novel control-theoretic physical/statistical modeling framework of extracting and characterizing human motor control strategies in a lower-dimensional space. Then, I will discuss the development of the in-situ sensing and actuation design to estimate the poses of the rider and the bicycle in natural environment with wearable and onboard sensors and actuators. Finally, I will present balancing control design and neuro-controller stability analysis for the rider-bicycle interactions. If time permits, I will also briefly describe various other robotic research projects at the RAM Lab in the end of the talk.
Brief Biography of Prof. Jingang Yi
Prof. Jingang Yi received the B.S. degree in electrical engineering from Zhejiang University, China in 1993, the M.Eng. degree in precision instruments from Tsinghua University, China in 1996, the M.A. degree in mathematics, and the Ph.D. degree in mechanical engineering from the University of California, Berkeley, in 2001 and 2002, respectively. Currently, Dr. Yi is an Associate Professor in mechanical engineering and also a graduate faculty member in electrical and computer engineering at Rutgers University. His research interests include autonomous robotic systems, mechatronics, dynamic systems and control, automation science and engineering, with applications to biomedical systems, civil infrastructure and transportation systems and semiconductor manufacturing. Dr. Yi has received many prestigious awards, including the 2014 ASCE Charles Pankow Award for Innovation, the 2013 Rutgers Board of Trustees Research Fellowship for Scholarly Excellence, and the 2010 US NSF CAREER Award, etc. He has also co-authored papers that have been awarded the Best Student Papers at the 2012 ASME Dynamic Systems and Control Conference and 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics and the Kayamori Best Paper at the 2005 IEEE International Conference on Robotics and Automation. Dr. Yi is a member of American Society of Mechanical Engineers (ASME) and a senior member of the IEEE. He serves as an Associate Editor of the IEEE Transactions on Automation Science and Engineering, IFAC Journal Control Engineering Practice, the ASME Journal of Dynamic Systems, Measurement and Control, and the IEEE Robotics and Automation Society (RAS) Conference Editorial Board (since 2008). He also served as a Guest Editor of IEEE Transactions on Automation Science and Engineering in 2009 and an Associate Editor of the ASME Dynamic Systems and Control Division Conference Editorial Board from 2008 to 2010.