Basic Input-Output Gain Tuning System Based on Control Input Histogram Leveling for Human-Operated Machines

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper explores a scheme of tuning a basic input-output (I/O) gain (BIOG) depending on usage conditions for improving the work performance of human-operated machines. I/O gain tuning is effective for improving operability and workability, but continual and/or huge changes makes operators confuse the machine dynamics, and then degrade the operability. Thus, the proposed tuning system tunes the BIOG at long terms according to comprehensive characteristics of the work content and operator, collected from a control lever input histogram. The target value is specified by a Gaussian distribution, meaning that all ranges of the spring-type control lever are equally used. This approach was chosen because leveling the control lever histogram independently of the operator and work content provides a consistent operational experience, leading to comfortable operations. In this study, BIOG curves are specified as a polygonal line involving a break and saturation point. These points are adjusted by reciprocal conversion of differential areas between the Gaussian distribution and obtained histogram curves. Experimental results obtained with a robot arm indicated that the developed BIOG tuning system could improve time efficiency by decreasing the differential area and increase the subjective usability as compared to a conventional fixed BIOG system. Moreover, the relationship between the histogram and BIOG curve could reveal features of both the work content and the operators skill level.

Original languageEnglish
JournalIEEE/ASME Transactions on Mechatronics
Publication statusAccepted/In press - 2021


  • Gaussian distribution
  • Histograms
  • Manipulators
  • Robots
  • Task analysis
  • Tuning
  • Workability
  • adaptation
  • gain tuning
  • human-machine system
  • manipulator
  • operability

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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