HUMAN SKILL MODELING BASED ON STOCHASTIC SWITCHED DYNAMICS

This paper presents a modeling and analysis strategy of human skill based on stochastic switched dynamics. As a fundamental mathematical model, the Stochastic Switched ARX model (SS-ARX model) is introduced. Then the modeling and analysis strategy of human skill is proposed based on the stochastic switched impedance model which can be regarded as one of the SS-ARX model. Finally, the developed strategy is applied to peg-in-hole task which involves interesting dexterous human skill, and the effectiveness of the proposed strategy is discussed.