Region of Attraction for Safe Manual Control of Pendulum System

The purpose of this study is to develop a skill acquisition support system for stabilizing operation of a pendulum system by EMG signals. Recently, many mechatronics using EMG signals as inputs are developed. However, it is difficult for beginner operators to control such mechatronics, and long time training is required to acquire the control skills. Therefore, this paper considers about development of a skill acquisition support system utilizing Safe Manual Control (SMC) to help beginners' training. We moreover introduce an impact factor to tune how actively an automatic support in SMC works because the support level should be adjusted according to the acquired skill level of trainees. In those case, stability of SMC may not be guaranteed generally. Hence, the region of attraction of SMC with the impact factor is analyzed for a pendulum on a cart system.